CODE AND DIAGRAM FOR SERVING ROBOT

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DIAGRAM

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CODE

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//HOW TO MAKE A SERVING ROBOT

//AKSHIT INNOVATION LAB https://www.youtube.com/c/AKSHITSINNOVATIONLAB

#define BLYNK_PRINT Serial

#include <ESP8266WiFi.h>

#include <BlynkSimpleEsp8266.h>

#define RightMotorSpeed D5 //14

#define RightMotorDir D6 //12

#define LeftMotorSpeed D7 //13

#define LeftMotorDir D8 //15

char auth[] = "Y6DiLJtoTYFYmTRViMex62jRMu0JVWj7"; //Blynk Authentication Token

char ssid[] = "Akshitlab"; //WIFI Name

char pass[] = "1234"; //WIFI Password

int minRange = 312;

int maxRange = 712;

int minspeed = 450;

int maxspeed = 1020;

int nospeed = 0;

void moveControl(int x, int y)

{

//Move Forward

if(y >= maxRange && x >= minRange && x<= maxRange)

{

digitalWrite( RightMotorDir,HIGH);

digitalWrite(LeftMotorDir,HIGH);

analogWrite(RightMotorSpeed, maxspeed);

analogWrite(LeftMotorSpeed , maxspeed);

}

//Move Forward Right

else if(x >= maxRange && y >= maxRange)

{

digitalWrite( RightMotorDir, HIGH);

digitalWrite(LeftMotorDir,HIGH);

analogWrite(RightMotorSpeed,minspeed);

analogWrite(LeftMotorSpeed ,maxspeed);

}

//Move Forward Left

else if(x <= minRange && y >= maxRange)

{

digitalWrite( RightMotorDir,HIGH);

digitalWrite(LeftMotorDir,HIGH);

analogWrite(RightMotorSpeed,maxspeed);

analogWrite(LeftMotorSpeed ,minspeed);

}

//No Move

else if(y < maxRange && y > minRange && x < maxRange && x > minRange)

{

analogWrite(RightMotorSpeed,nospeed);

analogWrite(LeftMotorSpeed , nospeed);

}

//Move Backward

else if(y <= minRange && x >= minRange && x <= maxRange)

{

digitalWrite( RightMotorDir,LOW);

digitalWrite(LeftMotorDir,LOW);

analogWrite(RightMotorSpeed,maxspeed);

analogWrite(LeftMotorSpeed ,maxspeed);

}

//Move Backward Right

else if(y <= minRange && x <= minRange)

{

digitalWrite( RightMotorDir,LOW);

digitalWrite(LeftMotorDir,LOW);

analogWrite(RightMotorSpeed,minspeed);

analogWrite(LeftMotorSpeed ,maxspeed);

}

//Move Backward Left

else if(y <= minRange && x >= maxRange)

{

digitalWrite( RightMotorDir,LOW);

digitalWrite(LeftMotorDir,LOW);

analogWrite(RightMotorSpeed,maxspeed);

analogWrite(LeftMotorSpeed ,minspeed);

}

}

void setup()

{

Serial.begin(9600);

Blynk.begin(auth, ssid, pass);

pinMode(RightMotorSpeed, OUTPUT);

pinMode(LeftMotorSpeed , OUTPUT);

pinMode( RightMotorDir, OUTPUT);

pinMode(LeftMotorDir, OUTPUT);

digitalWrite(RightMotorSpeed, LOW);

digitalWrite(LeftMotorSpeed , LOW);

digitalWrite( RightMotorDir, HIGH);

digitalWrite(LeftMotorDir, HIGH);

}

void loop()

{

Blynk.run();

}

BLYNK_WRITE(V1)

{

int x = param[0].asInt();

int y = param[1].asInt();

moveControl(x,y);

}