#include <WebServer.h>
#include <DNSServer.h>
#include <ESP32Servo.h>
// --- PIN MAPPING (DevKit V1) ---
#define IN1 14
#define IN2 27
#define ENA 33
#define IN3 26
#define IN4 25
#define ENB 32
#define TRIG 5
#define ECHO 18
#define SERVO_PIN 12
WebServer server(80);
DNSServer dnsServer;
Servo radarServo;
// --- GLOBAL VARIABLES ---
int mode = 0; // 0: Manual, 1: Auto, 2: Radar
bool lastSelect = false;
float smoothDist = 100.0;
float currentSpeed = 0;
int servoPos = 90;
int servoStep = 2;
unsigned long prevMs = 0;
// High-Tech Radar GUI HTML
const char* RADAR_GUI = R"rawliteral(
<!DOCTYPE html><html><head><meta name='viewport' content='width=device-width,initial-scale=1'>
<style>body{background:#000;color:#0f0;text-align:center;font-family:monospace;margin:0;overflow:hidden;}
canvas{width:98vw;max-width:500px;margin-top:5vh;filter:drop-shadow(0 0 15px #0f0);}</style></head>
<body><h2>PRO RADAR SYSTEM</h2><canvas id='rd'></canvas><h3 id='tx'>SCANNING...</h3>
<script>
const cv=document.getElementById('rd'),ctx=cv.getContext('2d');cv.width=500;cv.height=500;
let d=100,a=90,la=90;
function draw(){
ctx.fillStyle='rgba(0,10,0,0.1)';ctx.fillRect(0,0,500,500);const cx=250,cy=250,r=230;
la+=(a-la)*0.12;ctx.strokeStyle='#030';ctx.lineWidth=1;
for(let i=1;i<=4;i++){ctx.beginPath();ctx.arc(cx,cy,r*(i/4),0,Math.PI*2);ctx.stroke();}
let rad=(la-90)*Math.PI/180;ctx.strokeStyle='#0f0';ctx.lineWidth=4;ctx.beginPath();
ctx.moveTo(cx,cy);ctx.lineTo(cx+r*Math.cos(rad),cy+r*Math.sin(rad));ctx.stroke();
if(d<100){let tr=d*(r/100);ctx.fillStyle='red';ctx.beginPath();ctx.arc(cx+tr*Math.cos(rad),cy+tr*Math.sin(rad),10,0,6.28);ctx.fill();}
requestAnimationFrame(draw);}
setInterval(()=>{fetch('/data').then(res=>res.json()).then(j=>{d=j.d;a=j.a;document.getElementById('tx').innerText=d+'cm | '+a+'deg';});},50);
draw();</script></body></html>)rawliteral";
// --- MOTOR CONTROL ---
void applyMotors(int s1, int s2, int s3, int s4, int target) {
float ramp = 7.0;
if (currentSpeed < target) currentSpeed += ramp;
else if (currentSpeed > target) currentSpeed -= ramp;
digitalWrite(IN1, s1); digitalWrite(IN2, s2);
digitalWrite(IN3, s3); digitalWrite(IN4, s4);
ledcWrite(ENA, (int)currentSpeed);
ledcWrite(ENB, (int)currentSpeed);
}
// --- ULTRASONIC SENSOR ---
float getDist() {
digitalWrite(TRIG, LOW); delayMicroseconds(2);
digitalWrite(TRIG, HIGH); delayMicroseconds(10);
digitalWrite(TRIG, LOW);
long dur = pulseIn(ECHO, HIGH, 25000);
float d = (dur == 0) ? 100 : dur * 0.034 / 2;
smoothDist = (smoothDist 0.75) + (d 0.25); // Butter smooth filtering
return smoothDist;
}
void setup() {
pinMode(TRIG, OUTPUT); pinMode(ECHO, INPUT);
pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT);
radarServo.attach(SERVO_PIN);
ledcAttach(ENA, 1000, 8);
ledcAttach(ENB, 1000, 8);
Dabble.begin("Swornim_AWD");
server.on("/", [](){ server.send(200, "text/html", RADAR_GUI); });
server.on("/data", [](){
server.send(200, "application/json", "{\"d\":"+String((int)smoothDist)+",\"a\":"+String(servoPos)+"}");
});
}
void loop() {
Dabble.processInput();
unsigned long now = millis();
// MODE TOGGLE (SELECT BUTTON)
if (GamePad.isSelectPressed() && !lastSelect) {
mode = (mode + 1) % 3;
currentSpeed = 0;
if (mode == 2) {
WiFi.softAP("Swornim_Radar", "12345678");
dnsServer.start(53, "*", WiFi.softAPIP()); server.begin();
} else {
dnsServer.stop(); WiFi.softAPdisconnect(true);
}
delay(400);
}
lastSelect = GamePad.isSelectPressed();
if (mode == 0) { // MANUAL MODE
if (GamePad.isUpPressed()) applyMotors(1,0,1,0,255);
else if (GamePad.isDownPressed()) applyMotors(0,1,0,1,255);
else if (GamePad.isLeftPressed()) applyMotors(0,1,1,0,220);
else if (GamePad.isRightPressed()) applyMotors(1,0,0,1,220);
else applyMotors(0,0,0,0,0);
getDist();
}
else if (mode == 1) { // AUTO MODE (OBSTACLE AVOIDANCE)
if (getDist() > 35) applyMotors(1,0,1,0,180);
else { applyMotors(0,1,1,0,230); delay(650); }
}
else if (mode == 2) { // RADAR MODE
applyMotors(0,0,0,0,0);
dnsServer.processNextRequest(); server.handleClient();
if (now - prevMs > 40) {
servoPos += (servoStep * 2);
if (servoPos >= 165 || servoPos <= 15) servoStep *= -1;
radarServo.write(servoPos);
getDist();
prevMs = now;
}
}
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