#include #include #include // --- 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(

PRO RADAR SYSTEM

SCANNING...

)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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