Bluetooth RC rev_01

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    - Project: Bluetooth RC
    - Source Code NOT compiled for: ESP32 DevKit V1
    - Source Code created on: 2025-08-27 12:18:24

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* rc car which uses bluetooth to control and need 2 */
    /* L298N motor driver ,4x4 */
/****** END SYSTEM REQUIREMENTS *****/


/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <BluetoothSerial.h>

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

/****** PIN CONFIGURATION *******/
// Left side (Motor 1 and Motor 2 on L298N #1)
const int ENA_LEFT = 5;      // PWM for Motor 1 (LEFT FRONT)
const int IN1_LEFT = 18;     // Motor 1 input A
const int IN2_LEFT = 19;     // Motor 1 input B
const int IN3_LEFT = 21;     // Motor 2 input A
const int IN4_LEFT = 22;     // Motor 2 input B
const int ENB_LEFT = 23;     // PWM for Motor 2 (LEFT REAR)

// Right side (Motor 3 and Motor 4 on L298N #2)
const int ENA_RIGHT = 25;    // PWM for Motor 3 (RIGHT FRONT)
const int IN1_RIGHT = 26;    // Motor 3 input A
const int IN2_RIGHT = 27;    // Motor 3 input B
const int IN3_RIGHT = 32;    // Motor 4 input A
const int IN4_RIGHT = 33;    // Motor 4 input B
const int ENB_RIGHT = 14;    // PWM for Motor 4 (RIGHT REAR)

/****** PWM CONFIGURATION *******/
const int PWM_FREQ = 5000;   // 5 kHz PWM frequency
const int PWM_RES  = 8;       // 8-bit resolution (0-255)
const int PWM_CH_LEFT_A  = 0; // PWM channel for LEFT M1
const int PWM_CH_LEFT_B  = 1; // PWM channel for LEFT M2
const int PWM_CH_RIGHT_A = 2; // PWM channel for RIGHT M3
const int PWM_CH_RIGHT_B = 3; // PWM channel for RIGHT M4

BluetoothSerial SerialBT;
int currentSpeed = 150; // default speed (0-255)

/****** PROTOTYPES FOR MOTOR CONTROL *******/
void stopAllMotors();
void driveLeftMotor(int motorIndex, int speed, int dir);   // motorIndex: 0 -> M1, 1 -> M2
void driveRightMotor(int motorIndex, int speed, int dir);  // motorIndex: 0 -> M3, 1 -> M4
void setLeftMotors(int dir, int speed);
void setRightMotors(int dir, int speed);
void driveAll(int dir, int speed);

/****** IMPLEMENTATION ******/
void setup(void)
{
  // Initialize Bluetooth SPP
  SerialBT.begin("ESP32_RCCar");

  // Initialize pins
  pinMode(IN1_LEFT, OUTPUT);
  pinMode(IN2_LEFT, OUTPUT);
  pinMode(IN3_LEFT, OUTPUT);
  pinMode(IN4_LEFT, OUTPUT);
  pinMode(ENA_LEFT, OUTPUT);
  pinMode(ENB_LEFT, OUTPUT);

  pinMode(IN1_RIGHT, OUTPUT);
  pinMode(IN2_RIGHT, OUTPUT);
  pinMode(IN3_RIGHT, OUTPUT);
  pinMode(IN4_RIGHT, OUTPUT);
  pinMode(ENA_RIGHT, OUTPUT);
  pinMode(ENB_RIGHT, OUTPUT);

  // Setup PWM channels for ESC-like motor controllers
  ledcSetup(PWM_CH_LEFT_A,  PWM_FREQ, PWM_RES);
  ledcAttachPin(ENA_LEFT,   PWM_CH_LEFT_A);
  ledcSetup(PWM_CH_LEFT_B,  PWM_FREQ, PWM_RES);
  ledcAttachPin(ENB_LEFT,    PWM_CH_LEFT_B);

  ledcSetup(PWM_CH_RIGHT_A, PWM_FREQ, PWM_RES);
  ledcAttachPin(ENA_RIGHT,  PWM_CH_RIGHT_A);
  ledcSetup(PWM_CH_RIGHT_B, PWM_FREQ, PWM_RES);
  ledcAttachPin(ENB_RIGHT,   PWM_CH_RIGHT_B);

  // Stop all motors at startup
  stopAllMotors();
}

void loop(void)
{
  if (SerialBT.available())
  {
    String cmd = SerialBT.readStringUntil('\n');
    cmd.trim();
    if (cmd.length() == 0) return;
    char c = cmd.charAt(0);

    if (c == 'S' || c == 's') // set speed: S<0-255>
    {
      String num = cmd.substring(1);
      int sp = num.toInt();
      if (sp < 0) sp = 0;
      if (sp > 255) sp = 255;
      currentSpeed = sp;
    }
    else if (c == 'F' || c == 'f') // move forward
    {
      driveAll(1, currentSpeed);
    }
    else if (c == 'B' || c == 'b') // move backward
    {
      driveAll(-1, currentSpeed);
    }
    else if (c == 'L' || c == 'l') // rotate left
    {
      setLeftMotors(-1, currentSpeed);
      setRightMotors(1, currentSpeed);
    }
    else if (c == 'R' || c == 'r') // rotate right
    {
      setLeftMotors(1, currentSpeed);
      setRightMotors(-1, currentSpeed);
    }
    else if (c == 'X' || c == 'x') // stop
    {
      stopAllMotors();
    }
  }
  delay(5);
}

void stopAllMotors()
{
  setLeftMotors(0, 0);
  setRightMotors(0, 0);
}

void driveLeftMotor(int motorIndex, int speed, int dir)
{
  int channel = (motorIndex == 0) ? PWM_CH_LEFT_A : PWM_CH_LEFT_B;
  int in1 = (motorIndex == 0) ? IN1_LEFT : IN3_LEFT;
  int in2 = (motorIndex == 0) ? IN2_LEFT : IN4_LEFT;

  if (dir > 0) {
    digitalWrite(in1, HIGH); digitalWrite(in2, LOW);
  } else if (dir < 0) {
    digitalWrite(in1, LOW); digitalWrite(in2, HIGH);
  } else {
    digitalWrite(in1, LOW); digitalWrite(in2, LOW);
  }
  ledcWrite(channel, (speed < 0) ? 0 : speed);
}

void driveRightMotor(int motorIndex, int speed, int dir)
{
  int channel = (motorIndex == 0) ? PWM_CH_RIGHT_A : PWM_CH_RIGHT_B;
  int in1 = (motorIndex == 0) ? IN1_RIGHT : IN3_RIGHT;
  int in2 = (motorIndex == 0) ? IN2_RIGHT : IN4_RIGHT;

  if (dir > 0) {
    digitalWrite(in1, HIGH); digitalWrite(in2, LOW);
  } else if (dir < 0) {
    digitalWrite(in1, LOW); digitalWrite(in2, HIGH);
  } else {
    digitalWrite(in1, LOW); digitalWrite(in2, LOW);
  }
  ledcWrite(channel, (speed < 0) ? 0 : speed);
}

void setLeftMotors(int dir, int speed)
{
  driveLeftMotor(0, speed, dir);
  driveLeftMotor(1, speed, dir);
}

void setRightMotors(int dir, int speed)
{
  driveRightMotor(0, speed, dir);
  driveRightMotor(1, speed, dir);
}

void driveAll(int dir, int speed)
{
  setLeftMotors(dir, speed);
  setRightMotors(dir, speed);
}

/* END CODE */