/*
 * To control DC Motors with ESP32 with L298N module over WiFi (two motors)
 * Motor is controlled using Robojax_L298N_DC_motor library
 * 
 * 
 * Watch video instruction for this code (with Wifi): https://youtu.be/Olq8NXgNySA
 * Watch video instruction for this code (without WiFi): https://youtu.be/gOMHU0Q8upA


 * 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


or make a 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 downloaded 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 instruction for this line: https://youtu.be/2JTMqURJTwg
//Robojax_L298N_DC_motor motor(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB);/

// for two motors with debug 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 value (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 value (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)  + "%;}\n");
 //HTML_page.concat(motor1Speed);  
 //HTML_page.concat("%;}");
 HTML_page.concat(".bar2 {width: " + String(motor2Speed) + "%;}\n");
  
 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>\n</html>");
 
  server.send(200, "text/html", HTML_page);
}

void handleNotFound() {
  digitalWrite(led, 1);
  String message = "File Not Found\n\n";
  message += "URI: ";
  message += server.uri();
  message += "\nMethod: ";
  message += (server.method() == HTTP_GET) ? "GET" : "POST";
  message += "\nArguments: ";
  message += server.args();
  message += "\n";

  for (uint8_t i = 0; i < server.args(); i++) {
    message += " " + server.argName(i) + ": " + server.arg(i) + "\n";
  }

  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 the 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();
}//