robot1

#define BLYNK_PRINT Serial

#include <Stepper.h>
#include <ESP8266_Lib.h>
#include <BlynkSimpleShieldEsp8266.h>

// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "b0xxxxxxxxxxxxx2a7185";

// Your WiFi credentials.
// Set password to "" for open networks.
char ssid[] = "Pxxxxxxca3";
char pass[] = "gxxxxxxxx";

// or Software Serial on Uno, Nano...
#include <SoftwareSerial.h>
SoftwareSerial EspSerial(2, 3); // RX, TX

// Your ESP8266 baud rate:
#define ESP8266_BAUD 9600

ESP8266 wifi(&EspSerial);

const int stepsPerRevolution = 2048;
Stepper rightStepper(stepsPerRevolution, 8,10,9,11);
Stepper leftStepper(stepsPerRevolution, 4,6,5,7);
int state = 5;

WidgetTerminal terminal(V5);

BLYNK_WRITE(V5)
{
  if (String("echo") == param.asStr()) {
    terminal.println("echo OK") ;
  } else {
    terminal.println("FAIL") ;}
  }

void setup()
{
  // Debug console
  Serial.begin(9600);

  delay(10);

  // Set ESP8266 baud rate
  EspSerial.begin(ESP8266_BAUD);
  delay(10);

  rightStepper.setSpeed(18);
  leftStepper.setSpeed(18);

  Blynk.begin(auth, wifi, ssid, pass);

terminal.println(F("Blynk v" BLYNK_VERSION ": Device started"));

}
BLYNK_WRITE(V0) {
  if (param.asInt() == 1) {
   state = 1; // forward
  } else {
    state = 5; // stop
  }
 Control();
}
BLYNK_WRITE(V1) {
  if (param.asInt() == 1) {
   state = 2; // backward
  } else {
    state = 5; // stop
  }
  Control();
}
BLYNK_WRITE(V3) {
  if (param.asInt() == 1) {
   state = 3; // right
  } else {
    state = 5; // stop
  }
  Control();
}
BLYNK_WRITE(V2) {
  if (param.asInt() == 1) {
   state = 4; // left
  } else {
    state = 5; // stop
  }
  Control();
}

void Control() {
  //move forward
  if (state == 1) {
    rightStepper.step(1);
    leftStepper.step(-1);
  }
  //move backward
  if (state == 2) {
    rightStepper.step(-1);
    leftStepper.step(1);
  }
  //move right
  if (state == 3) {
    rightStepper.step(-1);
    leftStepper.step(-1);
  }
  //move left
  if (state == 4) {
    rightStepper.step(1);
    leftStepper.step(1);
  }
  //do nothing
  if (state == 5) {
    rightStepper.step(0);
    leftStepper.step(0);
  }
}
void loop()
{
  Blynk.run();
}