// Arduino IDE versi 2.2.1

// BOARD : LOLIN(WEMOS) D1 mini Lite (esp8266:esp8266:d1_mini_lite)

// ROBOT SOCKER NODEMCU BY ASUN86 10 FEB 2025

// OUT A = GEAR kiri

// OUT B = GEAR kanan

/******* WiFi Robot Remote Control Mode ********/

#include <ESP8266WiFi.h>

#include <ESP8266WebServer.h>

#include <ArduinoOTA.h>

// connections for drive Motors

int PWM_A = D6; // tidak digunakan

int PWM_B = D7; // tidak digunakan

int DIR_A = D1;

int DIR_B = D2;

int DIR_C = D3;

int DIR_D = D4;

const int buzPin = D5;      // set digital pin D5 as buzzer pin (use active buzzer)

const int ledPin = D8;      // set digital pin D8 as LED pin (use super bright LED)

const int wifiLedPin = D0;  // set digital pin D0 as indication, the LED turn on if NodeMCU connected to WiFi as STA mode

String command;          // String to store app command state.

int SPEED = 1023;        // 330 - 1023.

int speed_Coeff = 3;

ESP8266WebServer server(80);      // Create a webserver object that listens for HTTP request on port 80

unsigned long previousMillis = 0;

String sta_ssid = "";      // set Wifi networks you want to connect to

String sta_password = "";  // set password for Wifi networks

void setup(){

  Serial.begin(115200);    // bisa diganti 9600 supara bisa berkomunikasi dg hc05

  Serial.println();

  Serial.println("WiFi Robot Remote Control Mode");

  Serial.println("--------------------------------------");

  pinMode(buzPin, OUTPUT);      // sets the buzzer pin as an Output

  pinMode(ledPin, OUTPUT);      // sets the LED pin as an Output

  pinMode(wifiLedPin, OUTPUT);  // sets the Wifi LED pin as an Output

  digitalWrite(buzPin, LOW);

  digitalWrite(ledPin, LOW);

  digitalWrite(wifiLedPin, HIGH);

  // Set all the motor control pins to outputs

  pinMode(PWM_A, OUTPUT);

  pinMode(PWM_B, OUTPUT);

  pinMode(DIR_A, OUTPUT);

  pinMode(DIR_B, OUTPUT);

  pinMode(DIR_C, OUTPUT);

  pinMode(DIR_D, OUTPUT);

  // Turn off motors - Initial state

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, LOW);

  analogWrite(PWM_A, 0);

  analogWrite(PWM_B, 0);

  // set NodeMCU Wifi hostname based on chip mac address

  String chip_id = String(ESP.getChipId(), HEX);

  int i = chip_id.length()-4;

  chip_id = chip_id.substring(i);

  chip_id = "wificar-" + chip_id;  // nama robot contor wificar-RFI01

  String hostname(chip_id);

  Serial.println();

  Serial.println("Hostname: "+hostname);

  // first, set NodeMCU as STA mode to connect with a Wifi network

  WiFi.mode(WIFI_STA);

  WiFi.begin(sta_ssid.c_str(), sta_password.c_str());

  Serial.println("");

  Serial.print("Connecting to: ");

  Serial.println(sta_ssid);

  Serial.print("Password: ");

  Serial.println(sta_password);

  // try to connect with Wifi network about 10 seconds

  unsigned long currentMillis = millis();

  previousMillis = currentMillis;

  while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 10000) {

    delay(500);

    Serial.print(".");

    currentMillis = millis();

  }

  // if failed to connect with Wifi network set NodeMCU as AP mode

  if (WiFi.status() == WL_CONNECTED) {

    Serial.println("");

    Serial.println("WiFi-STA-Mode");

    Serial.print("IP: ");

    Serial.println(WiFi.localIP());

    digitalWrite(wifiLedPin, LOW);    // Wifi LED on when connected to Wifi as STA mode

    delay(3000);

  } else {

    WiFi.mode(WIFI_AP);

    WiFi.softAP(hostname.c_str());

    IPAddress myIP = WiFi.softAPIP();

    Serial.println("");

    Serial.println("WiFi failed connected to " + sta_ssid);

    Serial.println("");

    Serial.println("WiFi-AP-Mode");

    Serial.print("AP IP address: ");

    Serial.println(myIP);

    digitalWrite(wifiLedPin, HIGH);   // Wifi LED off when status as AP mode

    delay(3000);

  }

  server.on ( "/", HTTP_handleRoot );       // call the 'handleRoot' function when a client requests URI "/"

  server.onNotFound ( HTTP_handleRoot );    // when a client requests an unknown URI (i.e. something other than "/"), call function "handleNotFound"

  server.begin();                           // actually start the server

  ArduinoOTA.begin();                       // enable to receive update/uploade firmware via Wifi OTA

}

void loop() {

    ArduinoOTA.handle();          // listen for update OTA request from clients

    server.handleClient();        // listen for HTTP requests from clients

      command = server.arg("State");          // check HTPP request, if has arguments "State" then saved the value

      if (command == "F") Forward();          // check string then call a function or set a value

      else if (command == "B") Backward();

      else if (command == "R") TurnRight();

      else if (command == "L") TurnLeft();

      else if (command == "G") ForwardLeft();

      else if (command == "H") BackwardLeft();

      else if (command == "I") ForwardRight();

      else if (command == "J") BackwardRight();

      else if (command == "S") Stop();

      else if (command == "V") BeepHorn();

      else if (command == "W") TurnLightOn();

      else if (command == "w") TurnLightOff();

      else if (command == "0") SPEED = 330;

      else if (command == "1") SPEED = 400;

      else if (command == "2") SPEED = 470;

      else if (command == "3") SPEED = 540;

      else if (command == "4") SPEED = 610;

      else if (command == "5") SPEED = 680;

      else if (command == "6") SPEED = 750;

      else if (command == "7") SPEED = 820;

      else if (command == "8") SPEED = 890;

      else if (command == "9") SPEED = 960;

      else if (command == "q") SPEED = 1023;

}

// function prototypes for HTTP handlers

void HTTP_handleRoot(void){

  server.send ( 200, "text/html", "" );       // Send HTTP status 200 (Ok) and send some text to the browser/client

  if( server.hasArg("State") ){

     Serial.println(server.arg("State"));

  }

}

void handleNotFound(){

  server.send(404, "text/plain", "404: Not found"); // Send HTTP status 404 (Not Found) when there's no handler for the URI in the request

}

// function to move forward

void Forward(){

  digitalWrite(DIR_A, HIGH);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, HIGH);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to move backward

void Backward(){

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, HIGH);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, HIGH);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to turn right

void TurnRight(){

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, HIGH);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to turn left

void TurnLeft(){

  digitalWrite(DIR_A, HIGH);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to move forward left

void ForwardLeft(){

  digitalWrite(DIR_A, HIGH);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, HIGH);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to move backward left

void BackwardLeft(){

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, HIGH);

  digitalWrite(DIR_C, HIGH);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to move forward right

void ForwardRight(){

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, HIGH);

  digitalWrite(DIR_C, HIGH);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to move backward left

void BackwardRight(){

   digitalWrite(DIR_A, HIGH);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, HIGH);

  //analogWrite(PWM_A, SPEED);

  //analogWrite(PWM_B, SPEED);

}

// function to stop motors

void Stop(){  

  digitalWrite(DIR_A, LOW);

  digitalWrite(DIR_B, LOW);

  digitalWrite(DIR_C, LOW);

  digitalWrite(DIR_D, LOW);

  //analogWrite(PWM_A, 0);

  //analogWrite(PWM_B, 0);

}

// function to beep a buzzer

void BeepHorn(){

  digitalWrite(buzPin, HIGH);

  delay(150);

  digitalWrite(buzPin, LOW);

  delay(80);

}

// function to turn on LED

void TurnLightOn(){

  digitalWrite(ledPin, HIGH);

}

// function to turn off LED

void TurnLightOff(){

  digitalWrite(ledPin, LOW);

}  

// Arduino IDE versi 2.2.1

// BOARD : LOLIN(WEMOS) D1 mini Lite (esp8266:esp8266:d1_mini_lite)

// ROBOT SOCKER NODEMCU BY ASUN86 10 FEB 2025

// OUT A = GEAR kiri

// OUT B = GEAR kanan

/******* WiFi Robot Remote Control Mode ********/

#include <ESP8266WiFi.h>

#include <ESP8266WebServer.h>

#include <ArduinoOTA.h>

// connections for drive Motors (hanya menggunakan pin direction)

int GEAR_KIRI_MAJU = D1;

int GEAR_KIRI_MUNDUR = D2;

int GEAR_KANAN_MAJU = D3;

int GEAR_KANAN_MUNDUR = D4;

const int buzPin = D5;      // pin buzzer (active buzzer)

const int ledPin = D8;      // pin LED

const int wifiLedPin = D0;  // indikator WiFi STA mode

String command;             // String untuk menyimpan perintah

ESP8266WebServer server(80); // Webserver pada port 80

unsigned long previousMillis = 0;

String sta_ssid = "";      // SSID WiFi

String sta_password = "";  // Password WiFi

// Deklarasi fungsi

void HTTP_handleRoot(void);

void stopMotor();

void maju();

void mundur();

void putarKanan();

void putarKiri();

void majuKiri();

void mundurKiri();

void majuKanan();

void mundurKanan();

void bunyiBuzzer();

void nyalaLampu();

void matiLampu();

void setup() {

  Serial.begin(115200);

  Serial.println();

  Serial.println("WiFi Robot Remote Control Mode - SIMPLE");

  Serial.println("--------------------------------------");

  // Setup pin mode

  pinMode(buzPin, OUTPUT);

  pinMode(ledPin, OUTPUT);

  pinMode(wifiLedPin, OUTPUT);

  digitalWrite(buzPin, LOW);

  digitalWrite(ledPin, LOW);

  digitalWrite(wifiLedPin, HIGH);

  // Setup pin motor

  pinMode(GEAR_KIRI_MAJU, OUTPUT);

  pinMode(GEAR_KIRI_MUNDUR, OUTPUT);

  pinMode(GEAR_KANAN_MAJU, OUTPUT);

  pinMode(GEAR_KANAN_MUNDUR, OUTPUT);

  // Matikan semua motor - State awal

  stopMotor();

  // Setup hostname berdasarkan chip ID

  String chip_id = String(ESP.getChipId(), HEX);

  int i = chip_id.length()-4;

  chip_id = chip_id.substring(i);

  String hostname = "wificar-" + chip_id;

  Serial.println("Hostname: " + hostname);

  // Koneksi WiFi STA mode

  WiFi.mode(WIFI_STA);

  WiFi.begin(sta_ssid.c_str(), sta_password.c_str());

  Serial.println("");

  Serial.print("Connecting to: ");

  Serial.println(sta_ssid);

  // Tunggu koneksi WiFi 10 detik

  unsigned long currentMillis = millis();

  previousMillis = currentMillis;

  while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 10000) {

    delay(500);

    Serial.print(".");

    currentMillis = millis();

  }

  // Jika gagal konek, mode AP

  if (WiFi.status() == WL_CONNECTED) {

    Serial.println("\nWiFi-STA-Mode");

    Serial.print("IP: ");

    Serial.println(WiFi.localIP());

    digitalWrite(wifiLedPin, LOW); // LED nyala saat STA mode

  } else {

    WiFi.mode(WIFI_AP);

    WiFi.softAP(hostname.c_str());

    Serial.println("\nWiFi failed to: " + sta_ssid);

    Serial.println("WiFi-AP-Mode");

    Serial.print("AP IP: ");

    Serial.println(WiFi.softAPIP());

    digitalWrite(wifiLedPin, HIGH); // LED mati saat AP mode

  }

  server.on("/", HTTP_handleRoot);

  server.onNotFound(HTTP_handleRoot);

  server.begin();

  ArduinoOTA.begin();

}

void loop() {

    ArduinoOTA.handle();

    server.handleClient();

    command = server.arg("State");

    if (command == "F") maju();

    else if (command == "B") mundur();

    else if (command == "L") putarKanan();

    else if (command == "R") putarKiri();

    else if (command == "G") majuKiri();

    else if (command == "H") mundurKiri();

    else if (command == "I") majuKanan();

    else if (command == "J") mundurKanan();

    else if (command == "S") stopMotor();

    else if (command == "V") bunyiBuzzer();

    else if (command == "W") nyalaLampu();

    else if (command == "w") matiLampu();

    delay(10);

}

void HTTP_handleRoot(void) {

  server.send(200, "text/html", "");

  if(server.hasArg("State")) {

     Serial.println(server.arg("State"));

  }

}

// Fungsi kontrol motor yang disederhanakan

void stopMotor() {  

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void maju() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundur() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void putarKanan() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void putarKiri() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void majuKiri() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundurKiri() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void majuKanan() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundurKanan() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void bunyiBuzzer() {

  digitalWrite(buzPin, HIGH);

  delay(150);

  digitalWrite(buzPin, LOW);

}

void nyalaLampu() {

  digitalWrite(ledPin, HIGH);

}

void matiLampu() {

  digitalWrite(ledPin, LOW);

}

// Arduino IDE versi 2.2.1

// BOARD : LOLIN(WEMOS) D1 mini Lite (esp8266:esp8266:d1_mini_lite)

// ROBOT SOCKER NODEMCU BY ASUN86 10 FEB 2025

// OUT A = GEAR kiri

// OUT B = GEAR kanan

/******* WiFi Robot Remote Control Mode ********/

#include <ESP8266WiFi.h>

#include <ESP8266WebServer.h>

#include <ArduinoOTA.h>

// connections for drive Motors (hanya menggunakan pin direction)

int GEAR_KIRI_MAJU = D1;

int GEAR_KIRI_MUNDUR = D2;

int GEAR_KANAN_MAJU = D3;

int GEAR_KANAN_MUNDUR = D4;

// Sensor HC-SR04

const int trigPin = D6;    // Pin Trigger HC-SR04

const int echoPin = D7;    // Pin Echo HC-SR04

const int buzPin = D5;      // pin buzzer (active buzzer)

const int ledPin = D8;      // pin LED

const int wifiLedPin = D0;  // indikator WiFi STA mode

String command;             // String untuk menyimpan perintah

String lastCommand = "";    // Menyimpan perintah terakhir dari remote

ESP8266WebServer server(80); // Webserver pada port 80

unsigned long previousMillis = 0;

unsigned long lastRemoteTime = 0;    // Waktu terakhir menerima perintah remote

bool autoMode = false;               // Mode automatic ultrasonic

const unsigned long AUTO_MODE_DELAY = 5000;  // 5 detik delay sebelum auto mode

const int OBSTACLE_DISTANCE = 10;    // Jarak obstacle 10 cm

// WiFi Credentials - ISI DENGAN SSID DAN PASSWORD ANDA

const char* sta_ssid = "NAMA_WIFI_ANDA";      // Ganti dengan SSID WiFi Anda

const char* sta_password = "PASSWORD_WIFI_ANDA";  // Ganti dengan password WiFi Anda

// Deklarasi fungsi

void HTTP_handleRoot(void);

void stopMotor();

void maju();

void mundur();

void putarKanan();

void putarKiri();

void majuKiri();

void mundurKiri();

void majuKanan();

void mundurKanan();

void bunyiBuzzer();

void nyalaLampu();

void matiLampu();

long bacaJarakUltrasonic();

void handleAutoMode();

void setup() {

  Serial.begin(115200);

  Serial.println();

  Serial.println("WiFi Robot Remote Control Mode - WITH ULTRASONIC");

  Serial.println("--------------------------------------");

  // Setup pin mode

  pinMode(buzPin, OUTPUT);

  pinMode(ledPin, OUTPUT);

  pinMode(wifiLedPin, OUTPUT);

  pinMode(trigPin, OUTPUT);

  pinMode(echoPin, INPUT);

  digitalWrite(buzPin, LOW);

  digitalWrite(ledPin, LOW);

  digitalWrite(wifiLedPin, HIGH);

  // Setup pin motor

  pinMode(GEAR_KIRI_MAJU, OUTPUT);

  pinMode(GEAR_KIRI_MUNDUR, OUTPUT);

  pinMode(GEAR_KANAN_MAJU, OUTPUT);

  pinMode(GEAR_KANAN_MUNDUR, OUTPUT);

  // Matikan semua motor - State awal

  stopMotor();

  // Setup hostname berdasarkan chip ID

  String chip_id = String(ESP.getChipId(), HEX);

  int i = chip_id.length()-4;

  chip_id = chip_id.substring(i);

  String hostname = "wificar-" + chip_id;

  Serial.println("Hostname: " + hostname);

  // Koneksi WiFi STA mode

  WiFi.mode(WIFI_STA);

  WiFi.begin(sta_ssid, sta_password);

  Serial.println("");

  Serial.print("Connecting to: ");

  Serial.println(sta_ssid);

  Serial.print("Password: ");

  Serial.println(sta_password);

  // Tunggu koneksi WiFi 10 detik

  unsigned long currentMillis = millis();

  previousMillis = currentMillis;

  while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 10000) {

    delay(500);

    Serial.print(".");

    currentMillis = millis();

  }

  // Jika gagal konek, mode AP

  if (WiFi.status() == WL_CONNECTED) {

    Serial.println("\nWiFi-STA-Mode");

    Serial.print("IP: ");

    Serial.println(WiFi.localIP());

    digitalWrite(wifiLedPin, LOW); // LED nyala saat STA mode

  } else {

    WiFi.mode(WIFI_AP);

    WiFi.softAP(hostname.c_str());

    Serial.println("\nWiFi failed to: " + String(sta_ssid));

    Serial.println("WiFi-AP-Mode");

    Serial.print("AP IP: ");

    Serial.println(WiFi.softAPIP());

    digitalWrite(wifiLedPin, HIGH); // LED mati saat AP mode

  }

  server.on("/", HTTP_handleRoot);

  server.onNotFound(HTTP_handleRoot);

  server.begin();

  ArduinoOTA.begin();

  // Inisialisasi waktu terakhir remote

  lastRemoteTime = millis();

  bunyiBuzzer(); // Indikator startup

}

void loop() {

    ArduinoOTA.handle();

    server.handleClient();

    command = server.arg("State");

    if (command != "") {

      lastCommand = command;

      lastRemoteTime = millis(); // Reset timer auto mode

      autoMode = false; // Keluar dari auto mode

      if (command == "F") maju();

      else if (command == "B") mundur();

      else if (command == "L") putarKanan();

      else if (command == "R") putarKiri();

      else if (command == "G") majuKiri();

      else if (command == "H") mundurKiri();

      else if (command == "I") majuKanan();

      else if (command == "J") mundurKanan();

      else if (command == "S") stopMotor();

      else if (command == "V") bunyiBuzzer();

      else if (command == "W") nyalaLampu();

      else if (command == "w") matiLampu();

    } else {

      // Jika tidak ada perintah remote, cek apakah sudah waktunya auto mode

      if (!autoMode && (millis() - lastRemoteTime > AUTO_MODE_DELAY)) {

        autoMode = true;

        Serial.println("Auto Mode Activated - Ultrasonic");

        bunyiBuzzer(); // Indikator masuk auto mode

      }

      // Jika dalam auto mode, handle pergerakan ultrasonic

      if (autoMode) {

        handleAutoMode();

      }

    }

    delay(50); // Delay sedikit lebih lama untuk stabilitas

}

void HTTP_handleRoot(void) {

  server.send(200, "text/html", "");

  if(server.hasArg("State")) {

     Serial.println(server.arg("State"));

  }

}

// Fungsi membaca jarak dari HC-SR04

long bacaJarakUltrasonic() {

  long duration, distance;

  // Clear trigPin

  digitalWrite(trigPin, LOW);

  delayMicroseconds(2);

  // Set trigPin HIGH untuk 10 microsecond

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10);

  digitalWrite(trigPin, LOW);

  // Baca echoPin, mengembalikan waktu tempuh suara dalam microsecond

  duration = pulseIn(echoPin, HIGH, 30000); // Timeout 30ms

  // Hitung jarak (dalam cm)

  distance = duration * 0.034 / 2;

  // Jika timeout atau jarak tidak valid, return -1

  if (duration == 0 || distance > 400) {

    return -1;

  }

  return distance;

}

// Fungsi handle auto mode dengan ultrasonic

void handleAutoMode() {

  long jarak = bacaJarakUltrasonic();

  if (jarak != -1) {

    Serial.print("Jarak: ");

    Serial.print(jarak);

    Serial.println(" cm");

    // Jika ada obstacle dalam jarak 10 cm atau kurang

    if (jarak <= OBSTACLE_DISTANCE && jarak > 0) {

      Serial.println("Obstacle detected! Moving...");

      maju(); // Bergerak maju menghindari obstacle

    } else {

      Serial.println("No obstacle, stopping...");

      stopMotor(); // Berhenti jika tidak ada obstacle

    }

  } else {

    Serial.println("Error reading ultrasonic sensor");

    stopMotor();

  }

  delay(100); // Delay antara pembacaan ultrasonic

}

// Fungsi kontrol motor yang disederhanakan

void stopMotor() {  

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void maju() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundur() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void putarKanan() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void putarKiri() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void majuKiri() {

  digitalWrite(GEAR_KIRI_MAJU, HIGH);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundurKiri() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, HIGH);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void majuKanan() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, HIGH);

  digitalWrite(GEAR_KANAN_MUNDUR, LOW);

}

void mundurKanan() {

  digitalWrite(GEAR_KIRI_MAJU, LOW);

  digitalWrite(GEAR_KIRI_MUNDUR, LOW);

  digitalWrite(GEAR_KANAN_MAJU, LOW);

  digitalWrite(GEAR_KANAN_MUNDUR, HIGH);

}

void bunyiBuzzer() {

  digitalWrite(buzPin, HIGH);

  delay(150);

  digitalWrite(buzPin, LOW);

  delay(80);

}

void nyalaLampu() {

  digitalWrite(ledPin, HIGH);

}

void matiLampu() {

  digitalWrite(ledPin, LOW);

}

PENJELASAN CODING ROBOT KENDALI WIFI

KONSEP DASAR:
Coding ini membuat robot yang dikendalikan via WiFi menggunakan NodeMCU ESP8266. Robot dapat menerima perintah dari aplikasi "WIFI ROBOT RC" melalui koneksi WiFi dan menggerakkan motor sesuai perintah yang diterima.

KOMPONEN UTAMA DALAM CODING:

1. Koneksi WiFi - Robot bisa berjalan dalam mode STA (terhubung ke router) atau AP (membuat hotspot sendiri)

2. Web Server - Melayani perintah HTTP dari aplikasi remote control

3. Kontrol Motor - Menggerakkan motor DC melalui driver L298N

4. Fitur Tambahan - Buzzer, LED, dan OTA update firmware

PENJELASAN PIN DAN WIRING:

Koneksi Motor Driver L298N:

• NodeMCU D1 → IN1 L298N (Motor A - Direction)

• NodeMCU D2 → IN2 L298N (Motor A - Direction)

• NodeMCU D3 → IN3 L298N (Motor B - Direction)

• NodeMCU D4 → IN4 L298N (Motor B - Direction)

• NodeMCU D6 → ENA L298N (Motor A - PWM) - saat ini tidak aktif

• NodeMCU D7 → ENB L298N (Motor B - PWM) - saat ini tidak aktif

Koneksi Motor ke L298N:

• Motor kiri terhubung ke OUT1 dan OUT2 L298N

• Motor kanan terhubung ke OUT3 dan OUT4 L298N

Koneksi Komponen Lain:

• NodeMCU D5 → Buzzer aktif

• NodeMCU D8 → LED depan robot

• NodeMCU D0 → LED status koneksi WiFi

CARA PENGGUNAAN LENGKAP:

LANGKAH 1 - PERSIAPAN HARDWARE:

• Rangkai kedua motor DC dengan driver L298N

• Hubungkan NodeMCU ke L298N sesuai wiring di atas

• Berikan power external 7-12V ke L298N untuk motor

• Pastikan ground L298N dan NodeMCU disatukan

• Pasang buzzer dan LED sesuai pin yang ditentukan

LANGKAH 2 - UPLOAD CODING:

• Buka Arduino IDE versi 2.2.1

• Pilih board "LOLIN(WEMOS) D1 mini Lite"

• Upload coding ke NodeMCU

• Buka Serial Monitor dengan baud rate 115200

LANGKAH 3 - KONEKSI WIFI:

• Robot akan otomatis mencoba terkoneksi ke WiFi "www.asu86.com"

• Jika berhasil, Serial Monitor akan menampilkan IP address

• Jika gagal, robot akan membuat hotspot dengan nama "wificar-xxxx"

• Catat IP address yang ditampilkan di Serial Monitor

LANGKAH 4 - KENDALI VIA APLIKASI:

• Install aplikasi "WIFI ROBOT RC" di smartphone Android

• Buka aplikasi dan pilih mode "WiFi Mode"

• Masukkan IP address yang didapat dari Serial Monitor

• Gunakan joystick atau tombol pada aplikasi untuk mengontrol robot

FITUR DAN FUNGSI TOMBOL:

KONTROL GERAKAN:

• Tombol F = Maju (Forward)

• Tombol B = Mundur (Backward)

• Tombol L = Belok Kiri (Left)

• Tombol R = Belok Kanan (Right)

• Tombol G = Maju Kiri (Forward Left)

• Tombol H = Mundur Kiri (Backward Left)

• Tombol I = Maju Kanan (Forward Right)

• Tombol J = Mundur Kanan (Backward Right)

• Tombol S = Berhenti (Stop)

KONTROL KECEPATAN:

• Tombol 0 = Kecepatan 330

• Tombol 1 = Kecepatan 400

• Tombol 2 = Kecepatan 470

• Tombol 3 = Kecepatan 540

• Tombol 4 = Kecepatan 610

• Tombol 5 = Kecepatan 680

• Tombol 6 = Kecepatan 750

• Tombol 7 = Kecepatan 820

• Tombol 8 = Kecepatan 890

• Tombol 9 = Kecepatan 960

• Tombol q = Kecepatan maksimal 1023

FITUR TAMBAHAN:

• Tombol V = Bunyikan buzzer (Beep)

• Tombol W = Nyalakan LED depan

• Tombol w = Matikan LED depan

PENJELASAN FUNGSI GERAKAN ROBOT:

GERAKAN MAJU:
Motor kiri dan kanan berputar maju secara bersamaan dengan mengatur:

• D1 HIGH, D2 LOW untuk motor kiri

• D3 HIGH, D4 LOW untuk motor kanan

GERAKAN MUNDUR:
Motor kiri dan kanan berputar mundur secara bersamaan dengan mengatur:

• D1 LOW, D2 HIGH untuk motor kiri

• D3 LOW, D4 HIGH untuk motor kanan

BELOK KANAN:
Hanya motor kanan yang berputar maju:

• Motor kiri: D1 LOW, D2 LOW (berhenti)

• Motor kanan: D3 HIGH, D4 LOW (maju)

BELOK KIRI:
Hanya motor kiri yang berputar maju:

• Motor kiri: D1 HIGH, D2 LOW (maju)

• Motor kanan: D3 LOW, D4 LOW (berhenti)

GERAKAN DIAGONAL:
Kombinasi putaran motor yang berbeda untuk gerakan maju/mundur sambil belok

KEUNGGULAN SISTEM INI:

1. Dual Mode WiFi - Bisa terkoneksi ke router atau membuat hotspot sendiri

2. OTA Update - Dapat update firmware melalui WiFi tanpa kabel USB

3. Responsif - Perintah dari aplikasi langsung diproses tanpa delay

4. Multi Level Kecepatan - 10 level kecepatan yang dapat disesuaikan

5. Fitur Lengkap - Dilengkapi LED, buzzer, dan indikator status WiFi

6. Stabil - Web server yang handal untuk koneksi yang stabil

TROUBLESHOOTING MASALAH UMUM:

• Jika motor tidak berjalan: Periksa koneksi power external ke L298N

• Jika tidak bisa connect WiFi: Pastikan SSID dan password sudah benar

• Jika aplikasi tidak connect: Cek IP address yang ditampilkan di Serial Monitor

• Jika gerakan salah: Periksa wiring motor ke L298N dan urutan kabelnya

• Jika buzzer/LED tidak bekerja: Pastikan menggunakan komponen yang sesuai

CATATAN PENTING:

• Driver L298N membutuhkan power external terpisah untuk motor

• Ground NodeMCU dan L298N harus disambungkan

• Kecepatan motor dapat disesuaikan dengan tombol 0-9 dan q

• Robot sudah siap digunakan setelah mendapatkan IP address dan terkoneksi dengan aplikasi

Dengan mengikuti semua langkah di atas, robot WiFi Anda akan berfungsi dengan baik dan siap dikendalikan melalui aplikasi WIFI ROBOT RC dari jarak jauh.