Initial commit

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32doit-devkit-v1]
+platform = espressif32
+board = esp32doit-devkit-v1
+framework = arduino
+monitor_speed = 115200
+lib_deps = stempedia/DabbleESP32@^1.5.1

src/config.h

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+//Pin Configs
+#define M_DIR_11 15
+#define M_DIR_12 0
+#define M_PWM_1 5
+#define M_DIR_21 4
+#define M_DIR_22 2
+#define M_PWM_2 18
+
+//Motors
+#define LEFT_MOTOR 1
+#define RIGHT_MOTOR 2
+#define BOTH_MOTOR 3
+
+//Directions
+#define STOP 0
+#define FORWARD 1
+#define BACKWARD 2
+
+//PWM Configs
+#define PWM_FREQ 5000
+#define PWM_RES 8
+#define PWM_CHANNEL_M1 0
+#define PWM_CHANNEL_M2 1

src/main.cpp

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+#include <Arduino.h>
+
+#include "config.h"
+
+#define CUSTOM_SETTINGS
+#define INCLUDE_GAMEPAD_MODULE
+#include <DabbleESP32.h>
+
+
+// Functions
+void setMotorDirection(uint8_t motor ,uint8_t direction = FORWARD);
+void setMotorSpeed(uint8_t motor, uint8_t speed);
+
+void setup() {
+  Serial.begin(115200);      // make sure your Serial Monitor is also set at this baud rate.
+  Dabble.begin("Kleiax-Rover");       //set bluetooth name of your device
+
+  //SETUP PINS
+  pinMode(M_DIR_11, OUTPUT);
+  pinMode(M_DIR_12, OUTPUT);
+  pinMode(M_DIR_21, OUTPUT);
+  pinMode(M_DIR_22, OUTPUT);
+
+  digitalWrite(M_DIR_11, LOW);
+  digitalWrite(M_DIR_12, LOW);
+  digitalWrite(M_DIR_21, LOW);
+  digitalWrite(M_DIR_22, LOW);
+
+  ledcSetup(PWM_CHANNEL_M1, PWM_FREQ, PWM_RES);
+  ledcSetup(PWM_CHANNEL_M2, PWM_FREQ, PWM_RES);
+  ledcAttachPin(M_PWM_1, PWM_CHANNEL_M1);
+  ledcAttachPin(M_PWM_2, PWM_CHANNEL_M2);
+  ledcWrite(M_PWM_1, 0);
+  ledcWrite(M_PWM_2, 0);
+
+
+  //Start speed
+  setMotorSpeed(BOTH_MOTOR, 255);
+
+}
+
+void loop() {
+  Dabble.processInput();             //this function is used to refresh data obtained from smartphone.Hence calling this function is mandatory in order to get data properly from your mobile.
+  //Serial.print("KeyPressed: ");
+  if (GamePad.isUpPressed()) {
+    Serial.print("Up\n");
+    setMotorDirection(BOTH_MOTOR, FORWARD);
+  } else if (GamePad.isDownPressed()) {
+    Serial.print("Down\n");
+    setMotorDirection(BOTH_MOTOR, BACKWARD);
+  } else if (GamePad.isLeftPressed()) {
+    Serial.print("Left\n");
+    setMotorDirection(LEFT_MOTOR, BACKWARD);
+    setMotorDirection(RIGHT_MOTOR, FORWARD);
+  } else if (GamePad.isRightPressed()) {
+    Serial.print("Right\n");
+    setMotorDirection(LEFT_MOTOR, FORWARD);
+    setMotorDirection(RIGHT_MOTOR, BACKWARD);
+
+  } else if (GamePad.isSquarePressed()) {
+    setMotorDirection(LEFT_MOTOR, FORWARD);
+    Serial.print("1\n");
+  } else if (GamePad.isTrianglePressed()) {
+    setMotorDirection(LEFT_MOTOR, BACKWARD);
+    Serial.print("2\n");
+  } else if (GamePad.isCirclePressed()) {
+    setMotorDirection(RIGHT_MOTOR, FORWARD);
+    Serial.print("3\n");
+  } else if (GamePad.isCrossPressed()) {
+    setMotorDirection(RIGHT_MOTOR, BACKWARD);
+    Serial.print("4\n");
+  
+
+
+
+  } else {
+    setMotorDirection(BOTH_MOTOR, STOP);
+  }
+}
+
+void setMotorDirection(uint8_t motor ,uint8_t direction) {
+  if (motor == LEFT_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_11, HIGH);
+      digitalWrite(M_DIR_12, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+    } else {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else if (motor == RIGHT_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_21, HIGH);
+      digitalWrite(M_DIR_22, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+    } else {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else if (motor == BOTH_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_11, HIGH);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, HIGH);
+      digitalWrite(M_DIR_22, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, HIGH);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+    }else {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else {
+    Serial.print("setDirection: undefined motor\n");
+  }
+}
+
+void setMotorSpeed(uint8_t motor, uint8_t speed) {
+  if (motor == LEFT_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M1, speed);
+  } else if (motor == RIGHT_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M2, speed);
+  } else if (motor == BOTH_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M1, speed);
+    ledcWrite(PWM_CHANNEL_M2, speed);
+  } else {
+    ledcWrite(PWM_CHANNEL_M1, 0);
+    ledcWrite(PWM_CHANNEL_M2, 0);
+    Serial.print("setSpeed: undefined motor \n");
+  }
+}