**Voice Control** rev_01

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    - Project: **Voice Control**
    - Source Code NOT compiled for: ESP32 DevKit V1
    - Source Code created on: 2024-12-06 13:47:24

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Give me a code for esp 32 wroom formaking Wi-Fi */
    /* Controlled, voice controlled and obstacle avoiding */
    /* car with esp32 wroom, one l293d 3 channel l293D */
    /* motor driver, one ultrasonic sensor which is */
    /* joined at Shaft of servo motor and four 4v dc */
    /* motors. */
/****** END SYSTEM REQUIREMENTS *****/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <WebServerSessionManager.h>  // https://github.com/Zhu-jiatong/WebServerSessionManager
#include <WiFi.h>                     // Include necessary library for WiFi
#include <Servo.h>                    // Include necessary library for Servo

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

// Function prototypes for user-defined functions
void moveForward();
void moveBackward();
void turnRight();
void turnLeft();
void scanSurrounding();
void measureDistance();
void stopCar();

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/

// Define pins for motor driver
#define motor1A 2
#define motor1B 3
#define motor2A 4
#define motor2B 5
#define motor3A 6
#define motor3B 7
#define motor4A 8
#define motor4B 9

// Define pins for ultrasonic sensor
#define trigPin 10
#define echoPin 11

// Define pins for servo motor
#define servoPin 12

// Define variables for ultrasonic sensor
long duration;
int distance;

// Define variables for servo motor
Servo servo;

// Define variables for WiFi
const char* ssid = "Your WiFi Hotspot Name"; // Replace with your WiFi SSID
const char* password = "Your WiFi Hotspot Password"; // Replace with your WiFi Password

// Define variables for voice commands
String command;

void setup(void)
{
    // Initialize serial communication
    Serial.begin(9600);

    // Initialize motor driver pins as output
    pinMode(motor1A, OUTPUT);
    pinMode(motor1B, OUTPUT);
    pinMode(motor2A, OUTPUT);
    pinMode(motor2B, OUTPUT);
    pinMode(motor3A, OUTPUT);
    pinMode(motor3B, OUTPUT);
    pinMode(motor4A, OUTPUT);
    pinMode(motor4B, OUTPUT);

    // Initialize ultrasonic sensor pins as input
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);

    // Initialize servo motor
    servo.attach(servoPin);

    // Connect to WiFi
    WiFi.begin(ssid, password);
    while (WiFi.status() != WL_CONNECTED) {
        delay(500);
        Serial.println("Connecting to WiFi...");
    }
    Serial.println("Connected to WiFi!");
}

void loop(void)
{
    // Check for incoming serial data
    if (Serial.available() > 0) {
        // Read the incoming data
        command = Serial.readStringUntil('\n');
        // Remove any extra spaces
        command.trim();
        // Convert the command to lowercase
        command.toLowerCase();
        // Execute the corresponding function based on the command
        if (command == "move forward") {
            moveForward();
        } else if (command == "move backward") {
            moveBackward();
        } else if (command == "turn right") {
            turnRight();
        } else if (command == "turn left") {
            turnLeft();
        } else if (command == "scan surrounding") {
            scanSurrounding();
        } else if (command == "measure distance") {
            measureDistance();
        } else if (command == "stop") {
            stopCar();
        } else {
            Serial.println("Invalid command!");
        }
    }
}

// Function to move the car forward
void moveForward() {
    // Set motor directions
    digitalWrite(motor1A, HIGH);
    digitalWrite(motor1B, LOW);
    digitalWrite(motor2A, HIGH);
    digitalWrite(motor2B, LOW);
    digitalWrite(motor3A, HIGH);
    digitalWrite(motor3B, LOW);
    digitalWrite(motor4A, HIGH);
    digitalWrite(motor4B, LOW);
    // Print message
    Serial.println("Moving forward!");
}

// Function to move the car backward
void moveBackward() {
    // Set motor directions
    digitalWrite(motor1A, LOW);
    digitalWrite(motor1B, HIGH);
    digitalWrite(motor2A, LOW);
    digitalWrite(motor2B, HIGH);
    digitalWrite(motor3A, LOW);
    digitalWrite(motor3B, HIGH);
    digitalWrite(motor4A, LOW);
    digitalWrite(motor4B, HIGH);
    // Print message
    Serial.println("Moving backward!");
}

// Function to turn the car right
void turnRight() {
    // Set motor directions
    digitalWrite(motor1A, HIGH);
    digitalWrite(motor1B, LOW);
    digitalWrite(motor2A, LOW);
    digitalWrite(motor2B, HIGH);
    digitalWrite(motor3A, HIGH);
    digitalWrite(motor3B, LOW);
    digitalWrite(motor4A, LOW);
    digitalWrite(motor4B, HIGH);
    // Print message
    Serial.println("Turning right!");
}

// Function to turn the car left
void turnLeft() {
    // Set motor directions
    digitalWrite(motor1A, LOW);
    digitalWrite(motor1B, HIGH);
    digitalWrite(motor2A, HIGH);
    digitalWrite(motor2B, LOW);
    digitalWrite(motor3A, LOW);
    digitalWrite(motor3B, HIGH);
    digitalWrite(motor4A, HIGH);
    digitalWrite(motor4B, LOW);
    // Print message
    Serial.println("Turning left!");
}

// Function to scan the surrounding using the servo motor
void scanSurrounding() {
    // Implementation for scanning surrounding
    for (int pos = 0; pos <= 180; pos += 1) { // Sweep from 0 to 180 degrees
        servo.write(pos);              // Tell servo to go to position in variable 'pos'
        delay(15);                     // Wait for the servo to reach the position
        measureDistance();             // Measure distance at this position
    }
    for (int pos = 180; pos >= 0; pos -= 1) { // Sweep from 180 to 0 degrees
        servo.write(pos);              // Tell servo to go to position in variable 'pos'
        delay(15);                     // Wait for the servo to reach the position
        measureDistance();             // Measure distance at this position
    }
}

// Function to measure distance using the ultrasonic sensor
void measureDistance() {
    // Trigger the ultrasonic sensor
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    // Read the echo pin
    duration = pulseIn(echoPin, HIGH);

    // Calculate the distance
    distance = duration * 0.034 / 2; // Distance in cm
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.println(" cm");
}

// Function to stop the car
void stopCar() {
    // Stop all motors
    digitalWrite(motor1A, LOW);
    digitalWrite(motor1B, LOW);
    digitalWrite(motor2A, LOW);
    digitalWrite(motor2B, LOW);
    digitalWrite(motor3A, LOW);
    digitalWrite(motor3B, LOW);
    digitalWrite(motor4A, LOW);
    digitalWrite(motor4B, LOW);
    // Print message
    Serial.println("Car stopped!");
}

/* END CODE */