Alternative firmware for the RC Car that features local communication through TCP, and speed control for driving and turning

rccar-local-speedcontrol.ino

/* Globals -------------------------------------------------------------------*/

int leftMotorEnable   = D1; //PWM
int rightMotorEnable  = A7; //PWM
int leftMotorDir    = D3;
int rightMotorDir   = D4;

int dance_state = 0;

int speed_f = 0;
int speed_b = 0;
int speed_l = 0;
int speed_r = 0;

int cloud_state = 1;

TCPServer server = TCPServer(80);

TCPClient client;

char myIpString[24];

void setup() {
  server.begin();

  Serial.begin(9600);

  delay(1000);

    //I expose Ip Address of the core so I can learn it from cloud and connect it with socket on my pc.

  IPAddress myIp = Network.localIP();
  sprintf(myIpString, "%d.%d.%d.%d", myIp[0], myIp[1], myIp[2], myIp[3]);

  Spark.variable("ipAddress", myIpString, STRING);

  pinMode(leftMotorDir, OUTPUT);
  pinMode(leftMotorEnable, OUTPUT);
  pinMode(rightMotorDir, OUTPUT);
  pinMode(rightMotorEnable, OUTPUT);


  pinMode(D7,OUTPUT);

}

  void loop() {

    if (WiFi.status() != WIFI_ON) {

      rcCarControl(byte('k'));

    }

    static system_tick_t last_announced_at = millis();

    if (millis() - last_announced_at > 10000) {

        Multicast_Presence_Announcement();

        last_announced_at = millis();
      }

    if (client.connected()) {

      digitalWrite(D7,HIGH);

      while (client.available()) {

        rcCarControl(byte(client.read()));
    }


    } else {

        // if no client is yet connected, check for a new connection
        client = server.available();
        digitalWrite(D7,LOW);

    }

    if(dance_state == 1) {

      int i=0;
      int j=0;

      digitalWrite(leftMotorDir, LOW);
      digitalWrite(rightMotorDir, LOW);

      for (i = 0; i<256; i++) {

        analogWrite(leftMotorEnable,i);
        analogWrite(rightMotorEnable,i);

        delay(2);
      }

      for (j = 0; i<256; j++) {

        analogWrite(leftMotorEnable,255-j);
        analogWrite(rightMotorEnable,255-j);

        delay(2);
      }
    }
}

void rcCarControl(byte cmd) {

  if(cmd == byte('k'))
  {
    digitalWrite(leftMotorEnable,LOW);
    digitalWrite(rightMotorEnable,LOW);

    digitalWrite(leftMotorDir,LOW);
    digitalWrite(rightMotorDir,LOW);

    speed_f = 0;
    speed_b = 0;
    speed_l = 0;
    speed_r = 0;
    dance_state = 0;

    server.write("Stopping");

    return;
  }

  if(cmd  == byte('s'))
  {

    if (speed_b == 0) {

      analogWrite(leftMotorEnable,85);
      analogWrite(rightMotorEnable,85);

      digitalWrite(leftMotorDir,LOW);
      digitalWrite(rightMotorDir,HIGH);

      speed_f = 0;
      speed_b = 1;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Backward - 1");

      return;

    }

    if (speed_b == 1) {

      analogWrite(leftMotorEnable,170);
      analogWrite(rightMotorEnable,170);

      digitalWrite(leftMotorDir,LOW);
      digitalWrite(rightMotorDir,HIGH);

      speed_f = 0;
      speed_b = 2;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Backward - 2");

      return;

    }

    else {

      analogWrite(leftMotorEnable,255);
      analogWrite(rightMotorEnable,255);

      digitalWrite(leftMotorDir,LOW);
      digitalWrite(rightMotorDir,HIGH);

      speed_f = 0;
      speed_b = 3;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Backward - 3");

      return;

    }
  }

  if(cmd == byte('w')) {

    if (speed_f == 0) {

      analogWrite(leftMotorEnable,85);
      analogWrite(rightMotorEnable,85);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 1;
      speed_b = 0;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Forward - 1");

      return;

    }

    if (speed_f == 1) {

      analogWrite(leftMotorEnable,170);
      analogWrite(rightMotorEnable,170);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 2;
      speed_b = 0;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Forward - 2");

      return;

    }

    else {

      analogWrite(leftMotorEnable,255);
      analogWrite(rightMotorEnable,255);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 3;
      speed_b = 0;
      speed_l = 0;
      speed_r = 0;
      dance_state = 0;

      server.write("Forward - 3");

      return;

    }

  }

  if(cmd == byte('d'))
  {

    if (speed_r == 0) {

      analogWrite(leftMotorEnable,85);
      analogWrite(rightMotorEnable,85);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, HIGH);

      speed_f = 0;
      speed_b = 0;
      speed_l = 0;
      speed_r = 1;
      dance_state = 0;

      server.write("Right - 1");

      return;
    }

    if (speed_r == 1) {

      analogWrite(leftMotorEnable,170);
      analogWrite(rightMotorEnable,170);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, HIGH);

      speed_f = 0;
      speed_b = 0;
      speed_l = 0;
      speed_r = 2;
      dance_state = 0;

      server.write("Right - 2");

      return;

    }

    else {

      analogWrite(leftMotorEnable,255);
      analogWrite(rightMotorEnable,255);

      digitalWrite(leftMotorDir, HIGH);
      digitalWrite(rightMotorDir, HIGH);

      speed_f = 0;
      speed_b = 0;
      speed_l = 0;
      speed_r = 3;
      dance_state = 0;

      server.write("Right - 3");

      return;

    }
  }

  if(cmd == byte('a'))
  {

    if (speed_l == 0) {

      analogWrite(leftMotorEnable,85);
      analogWrite(rightMotorEnable,85);

      digitalWrite(leftMotorDir, LOW);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 0;
      speed_b = 0;
      speed_l = 1;
      speed_r = 0;
      dance_state = 0;

      server.write("Left - 1");

      return;
    }

    if (speed_l == 1) {

      analogWrite(leftMotorEnable,170);
      analogWrite(rightMotorEnable,170);

      digitalWrite(leftMotorDir, LOW);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 0;
      speed_b = 0;
      speed_l = 2;
      speed_r = 0;
      dance_state = 0;

      server.write("Left - 2");

      return;

    }

    else {

      analogWrite(leftMotorEnable,255);
      analogWrite(rightMotorEnable,255);

      digitalWrite(leftMotorDir, LOW);
      digitalWrite(rightMotorDir, LOW);

      speed_f = 0;
      speed_b = 0;
      speed_l = 3;
      speed_r = 0;
      dance_state = 0;

      server.write("Left - 3");

      return;

    }
  }

  if(cmd == byte('l')) {
    dance_state = 1;

    server.write("Dancing!");

    return;

  }

  if(cmd == byte('x')) {

    if (cloud_state == 1) {
      Spark.disconnect();

      cloud_state=0;

      server.write("Disconnecting from Spark Cloud");

      return;
    }

    if (cloud_state == 0) {
      Spark.connect();

      cloud_state=1;

      server.write("Connecting to the Spark Cloud");

      return;
    }
  }

}