Learning/Torque.txt at main · skools-here/Learning · GitHub

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#include <ESP8266WiFi.h>       //wifi library for node mcu
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
#include <String.h>
#define motor1 5              //motor connected to GPIO5. Basically pin number
#define motor2 4
#define motor3 0
#define motor4 2

//WiFi
char* ssid = "placeholder";
char* password = "jioairtel";
WiFiClient client;            //wificlient defining
WiFiServer server(80);        //port assighned to 80

void forward();
void backward();
void right();
void left();
void stop();
void turnright();
void turnleft();

void setup() {
  //In the line Serial.begin(115200) u have to pass the baud rate which should be the same as in the rightmost top corner of the serial monitor written as 115200 baud. If u want to check whether it is connected or not, u may remove the usb cable and after uploading the code and then reconnect it then check in the serial monitor.
  Serial.begin(115200);

  // Set motor pin as output
  pinMode(motor1, OUTPUT);
  pinMode(motor2, OUTPUT);
  pinMode(motor3, OUTPUT);
  pinMode(motor4, OUTPUT);

  //turning on access point
  WiFi.softAP(ssid, password);

  //output for checking wifi and finding ip
  Serial.println("NodeMCU is connected");
  Serial.print("IP address: ");
  Serial.println(WiFi.softAPIP());

  //starts server for client requests
  server.begin();
}

void loop() {
  //client reads any device connected to network
  client = server.available();

  //if client is connected
  if (client){
    //read request and string management
    String request = client.readStringUntil('\n');
    Serial.println(request);
    request.trim();

    //motor commands
    if (request.indexOf("GET /?dir=forward") >= 0)  {
      forward();
      Serial.println("FORWARD");
    }
    else if (request.indexOf("GET /?dir=backward") >= 0) {
      backward();
      Serial.println("BACK");
    }
    else if (request.indexOf("GET /?dir=stop") >= 0) {
      stop();
      Serial.println("STOP");
    }
    else if (request.indexOf("GET /?dir=right") >= 0) {
      right();
      Serial.println("RIGHT");
    }
    else if (request.indexOf("GET /?dir=left") >= 0) {
      left();
      Serial.println("LEFT");
    }
    else if (request.indexOf("GET /?dir=R") >= 0) {
      Serial.println("ROTATE LEFT");
      turnleft();
    }
    else if (request.indexOf("GET /?dir=L") >= 0) {
      Serial.println("ROTATE RIGHT");
      turnright();
    }
  }
}


void forward() {
  digitalWrite(motor2, LOW);
  digitalWrite(motor1, HIGH);
  digitalWrite(motor4, HIGH);
  digitalWrite(motor3, LOW);
}
void backward() {
  digitalWrite(motor2, HIGH);
  digitalWrite(motor1, LOW);
  digitalWrite(motor4, LOW);
  digitalWrite(motor3, HIGH);
}
void right() {
  digitalWrite(motor2, LOW);
  digitalWrite(motor1, HIGH);
  digitalWrite(motor4, LOW);
  digitalWrite(motor3, HIGH);
}
void left() {
  digitalWrite(motor2, HIGH);
  digitalWrite(motor1, LOW);
  digitalWrite(motor4, HIGH);
  digitalWrite(motor3, LOW);
}
void stop() {
  digitalWrite(motor1, LOW);
  digitalWrite(motor2, LOW);
  digitalWrite(motor3, LOW);
  digitalWrite(motor4, LOW);
}

void turnright() {
  right();
  delay(500);
void turnleft() {
  left();
  delay(500);
}