Other Arduino Codes and Videos by Robojax
This this video shows how to control DC motors using ESP32 and L298N module over WiFi. Please download the Libarary Zip file with all examples included.
The link to use in the "preferences" of Arduino IDE for ESP32 board https://dl.espressif.com/dl/package_esp32_index.json Watch video for instructions.
/*
* To control DC Motors with ESP32 with L298N module over WiFi (two motors)
* Motor is controlled using Robojax_L298N_DC_motor library
*
*
* Watch video instrution for this code (with Wifi): https://youtu.be/Olq8NXgNySA
* Watch Video instrution for this code (without WiFi): https://youtu.be/gOMHU0Q8upA
* Full explanation of this code and wiring diagram is available at
* my Arduino Course at Udemy.com here: http://robojax.com/L/?id=62
* Written by Ahmad Shamshiri on Dec 27, 2019
* in Ajax, Ontario, Canada. www.robojax.com
*
* Get this code and other Arduino codes from Robojax.com
Learn Arduino step by step in structured course with all material, wiring diagram and library
all in once place. Purchase My course on Udemy.com http://robojax.com/L/?id=62
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content like this. You can support me on Patreon http://robojax.com/L/?id=63
or make donation using PayPal http://robojax.com/L/?id=64
* * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.*
* This code has been download from Robojax.com
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Copyright (c) 2015, Majenko Technologies
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
* * Neither the name of Majenko Technologies nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <Robojax_L298N_DC_motor.h>
// motor 1 settings
#define CHA 0
#define ENA 19 // this pin must be PWM enabled pin if Arduino board is used
#define IN1 18
#define IN2 5
// motor 2 settings
#define IN3 17
#define IN4 16
#define ENB 4// this pin must be PWM enabled pin if Arduino board is used
#define CHB 1
const int CCW = 2; // do not change
const int CW = 1; // do not change
#define motor1 1 // do not change
#define motor2 2 // do not change
// for single motor
//Robojax_L298N_DC_motor motor(IN1, IN2, ENA, CHA, true);
// for two motors without debug information // Watch video instruciton for this line: https://youtu.be/2JTMqURJTwg
//Robojax_L298N_DC_motor motor(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB);/
// fore two motors with debut information
Robojax_L298N_DC_motor motor(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB, true);
int motor1Direction = CW;//default direction of rotation
const int motor1changeStep = 10;// 10 is 10% every time button is pushed
int motor1Speed = 40;// variable holding the light output vlaue (initial value) 40 means 40%
const int motor1MinimumSpeed=20;
const int motor1MaximumSpeed=100;
int motor1StopState=HIGH;//Stope state of motor (HIGH means STOP) and LOW means Start
int motor2Direction = CW;//default direction of rotation
const int motor2changeStep = 10;// 10 is 10% every time button is pushed
int motor2Speed = 60;// variable holding the light output vlaue (initial value) 40 means 40%
const int motor2MinimumSpeed=20;
const int motor2MaximumSpeed=100;
int motor2StopState=HIGH;//Stope state of motor (HIGH means STOP) and LOW means Start
#include "ESP32_L298N_DC_motor_wifi_page.h"
#include <WiFi.h>
#include <WiFiClient.h>
#include <WebServer.h>
#include <ESPmDNS.h>
const char *ssid = "Robojax";
const char *password = "YouTube2019_o_";
WebServer server(80);
const int led = 13;
void handleRoot() {
String HTML_page = motorControlHeader_1;
HTML_page.concat(".bar1 {width: " + String(motor1Speed) + "%;}
");
//HTML_page.concat(motor1Speed);
//HTML_page.concat("%;}");
HTML_page.concat(".bar2 {width: " + String(motor2Speed) + "%;}
");
HTML_page.concat(motorControlHeader_2);
HTML_page.concat(motor1Control_p1);
if(motor1Direction ==CW)
{
if(motor1StopState ==HIGH)
{
HTML_page.concat("<strong>Stopped - CW at ");
}else{
HTML_page.concat("<strong>Running - CW at ");
}
}else{
if(motor1StopState ==HIGH)
{
HTML_page.concat("<strong>Stopped - CCW at ");
}else{
HTML_page.concat("<strong>Running - CCW at ");
}
}
HTML_page.concat(motor1Speed);
HTML_page.concat(motor1Control_p2);
if(motor1StopState ==HIGH)
{
HTML_page.concat("m1START\">START");
}else{
HTML_page.concat("m1STOP\">STOP");
}
HTML_page.concat(motor1Control_p3);
///motor 2 begins
HTML_page.concat(motor2Control_p1);
if(motor2Direction ==CW)
{
if(motor2StopState ==HIGH)
{
HTML_page.concat("<strong>Stopped - CW at ");
}else{
HTML_page.concat("<strong>Running - CW at ");
}
}else{
if(motor2StopState ==HIGH)
{
HTML_page.concat("<strong>Stopped - CCW at ");
}else{
HTML_page.concat("<strong>Running - CCW at ");
}
}
HTML_page.concat(motor2Speed);
HTML_page.concat(motor2Control_p2);
if(motor2StopState ==HIGH)
{
HTML_page.concat("m2START\">START");
}else{
HTML_page.concat("m2STOP\">STOP");
}
HTML_page.concat(motor2Control_p3);
HTML_page.concat("</body>
</html>");
server.send(200, "text/html", HTML_page);
}
void handleNotFound() {
digitalWrite(led, 1);
String message = "File Not Found
";
message += "URI: ";
message += server.uri();
message += "
Method: ";
message += (server.method() == HTTP_GET) ? "GET" : "POST";
message += "
Arguments: ";
message += server.args();
message += "
";
for (uint8_t i = 0; i < server.args(); i++) {
message += " " + server.argName(i) + ": " + server.arg(i) + "
";
}
server.send(404, "text/plain", message);
digitalWrite(led, 0);
}
void setup(void) {
Serial.begin(115200);
motor.begin();
//L298N DC Motor by Robojax.com
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.println("");
// Wait for connection
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.print("Connected to ");
Serial.println(ssid);
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
if (MDNS.begin("robojaxESP32")) {
Serial.print("MDNS responder started at http://");
Serial.println("robojaxESP32");
}
server.on("/", handleRoot);
server.on("/speed", HTTP_GET, handleMotorSpeed);
server.on("/direction", HTTP_GET, handleMotorDirection);
server.on("/stop", HTTP_GET, handleMotorBrake);
server.onNotFound(handleNotFound);
server.begin();
Serial.println("HTTP server started");
}
void loop(void) {
server.handleClient();
if(motor1StopState ==HIGH)
{
motor.brake(motor1);
}else{
motor.rotate(motor1, motor1Speed, motor1Direction);//run motor1 at motor1Speed% speed in motor1Direction
}
if(motor2StopState ==HIGH)
{
motor.brake(motor2);
}else{
motor.rotate(motor2, motor2Speed, motor2Direction);//run motor2 at motor2Speed% speed in motor2Direction
}
delay(100);
}
/*
* handleMotorSpeed()
* Slows down or speeds up the motor
* returns nothing
* Written by Ahmad Shamshiri on Dec 27, 2019
* www.Robojax.com
*/
void handleMotorSpeed() {
if(server.arg("do") == "m1slower" )
{
motor1Speed -=motor1changeStep;
if(motor1Speed < motor1MinimumSpeed)
{
motor1Speed = motor1MinimumSpeed;
}
}else if(server.arg("do") == "m1faster")
{
motor1Speed +=motor1changeStep;
if(motor1Speed > motor1MaximumSpeed)
{
motor1Speed =motor1MaximumSpeed;
}
}else if(server.arg("do") == "m2slower")
{
motor2Speed -=motor2changeStep;
if(motor2Speed < motor2MinimumSpeed)
{
motor2Speed = motor2MinimumSpeed;
}
}else if(server.arg("do") == "m2faster")
{
motor2Speed +=motor2changeStep;
if(motor2Speed > motor2MaximumSpeed)
{
motor2Speed =motor2MaximumSpeed;
}
}else{
motor1Speed =0;
}
handleRoot();
}//handleMotorSpeed() end
/*
* handleMotorDirection()
* changes the direction of motor
* returns nothing
* Written by Ahmad Shamshiri on Dec 27, 2019
* www.Robojax.com
*/
void handleMotorDirection() {
if(server.arg("dir") == "m1CW")
{
motor1Direction =CW;
}else if(server.arg("dir") == "m1CCW")
{
motor1Direction =CCW;
}else if(server.arg("dir") == "m2CW")
{
motor2Direction =CW;
}else{
motor2Direction =CCW;
}
handleRoot();
}//
/*
* handleMotorBrake()
* applies brake to the motor
* returns nothing
* Written by Ahmad Shamshiri on Dec 27, 2019
* www.Robojax.com
*/
void handleMotorBrake() {
if(server.arg("do") == "m1START")
{
motor1StopState=LOW;
}else if(server.arg("do") == "m1STOP")
{
motor1StopState=HIGH;
}else if(server.arg("do") == "m2START")
{
motor2StopState=LOW;
}else{
motor2StopState=HIGH;
}
handleRoot();
}//
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