code.txt

#include <AFMotor.h>
#include <SoftwareSerial.h>
#include <SerialCommand.h>
#include "DHT.h"
SoftwareSerial wifiSerial(2, 13);
char ledStatus = 0;
AF_DCMotor motor1(1, MOTOR12_64KHZ);
AF_DCMotor motor2(2, MOTOR12_64KHZ);
AF_DCMotor motor3(3, MOTOR12_64KHZ);
AF_DCMotor motor4(4, MOTOR12_64KHZ);
int flag = 1;
byte timeOut = 30;            
 
const int DHTPIN = 9;       //Đọc dữ liệu từ DHT11 ở chân 2 trên mạch Arduino
const int DHTTYPE = DHT11;  //Khai báo loại cảm biến, có 2 loại là DHT11 và DHT22
 
DHT dht(DHTPIN, DHTTYPE);


String tmpWiFiData = "";

byte currentDirection = 4;

const byte DIRECTION_FORWARD = 0;
const byte DIRECTION_BACKWARD = 1;
const byte DIRECTION_TURNLEFT = 3;
const byte DIRECTION_TURNRIGHT = 2;
const byte DIRECTION_NONE = 4;
void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  wifiSerial.begin(9600);

  Serial.println("Starting...");
  //setupMotor();
 
  showWiFiSerialData();
  //delay(5000);
  doWiFiConnect();
  openNetworkPort("100");  //sendATAndGetResponse("AT+CIPSERVER=1,100", 1000);
  dht.begin();
}
/*void setupMotor(){
  setMotorSpeed(255);
}*/
void loop() {
  // put your main code here, to run repeatedly:
  //wifiSerial.listen();
  tmpWiFiData = "";
  char temp[31];
  while (wifiSerial.available() > 0)
  {
    char c = wifiSerial.read();
    tmpWiFiData += c;
  }

  if (tmpWiFiData.length() > 0)
  {
    tmpWiFiData.trim();
    
    //Serial.println(tmpWiFiData);
    tmpWiFiData.toCharArray(temp, 32);
    
    ledStatus = temp[22];
    //Serial.println("trang thai -> "+ledStatus);    
    showLED(ledStatus);
  }

  delay(300);
  //delay(500);
 
}

//motor tiến lên trước
void motorForward(){
  motor1.setSpeed(128);
  motor2.setSpeed(128);
  motor3.setSpeed(128);
  motor4.setSpeed(128);
  
  motor1.run(FORWARD);
  motor2.run(FORWARD);
  motor3.run(FORWARD);
  motor4.run(FORWARD);
  flag = 1;
}
//motor  lùi sau
void motorBackward(){
  motor1.setSpeed(128);
  motor2.setSpeed(128);
  motor3.setSpeed(128);
  motor4.setSpeed(128);

  
  motor1.run(BACKWARD);
  motor2.run(BACKWARD);
  motor3.run(BACKWARD);
  motor4.run(BACKWARD);
  flag = 0;
}
//motor rẽ trái
void motorTurnLeft(){
  if(flag == 1){
    motor1.setSpeed(128);
    motor2.setSpeed(32);
    motor3.setSpeed(32);
    motor4.setSpeed(128);
    
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
  
  }
  else{
    motor1.setSpeed(128);
    motor2.setSpeed(32);
    motor3.setSpeed(32);
    motor4.setSpeed(128);
    
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    motor3.run(BACKWARD);
    motor4.run(BACKWARD);
  }
}

//motor rẽ phải
void motorTurnRight(){
 if(flag == 1){
    motor1.setSpeed(32);
    motor2.setSpeed(128);
    motor3.setSpeed(128);
    motor4.setSpeed(32);
    
    motor1.run(FORWARD);
    motor2.run(FORWARD);
    motor3.run(FORWARD);
    motor4.run(FORWARD);
  
  }
  else{
   motor1.setSpeed(32);
    motor2.setSpeed(128);
    motor3.setSpeed(128);
    motor4.setSpeed(32);
    
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
    motor3.run(BACKWARD);
    motor4.run(BACKWARD);
  }
}
// dừng motor
void motorStop(){
  motor1.run(RELEASE);
  motor2.run(RELEASE);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}
void showLED(char led)
{
  switch (led) 
  {
    case '0' :
    {
      Serial.println("Xe da dung lai"); 
      motorStop();
      break;  
    }
    case '1' :
    {
      Serial.println("Xe dang tien len");
      motorForward();
      break;
    }
    case '2' : 
    {
      Serial.println("Xe dang re trai");
      motorTurnLeft();
      break;
    }
    case '3' :
    {
      Serial.println("Xe dang re phai"); 
      motorTurnRight();
      break;
    }
    case '4': 
    {
      Serial.println("Xe dang lui xuong");
      motorBackward();
      break;
    }
    case '5' :
    {
     //float h = dht.readHumidity();    //Đọc độ ẩm
     //float t = dht.readTemperature(); //Đọc nhiệt độ
      Serial.println("Gui du lieu cho server"); 
      String msg = "xinchao";
      sendMessenge(msg);
 
      //Serial.print("Nhiet do: ");
      //Serial.println(t);               //Xuất nhiệt độ
      //Serial.print("Do am: ");
      //Serial.println(h);               //Xuất độ ẩm
  
      //Serial.println();                //Xuống hàng
     // delay(1000);                     //Đợi 1 giây
      break; 
    }
    default :
      break;
}
}

void doWiFiConnect()
{
  sendATAndGetResponse("AT+CWMODE=1", 3000);
  sendATAndGetResponse("AT+CWJAP=\"Xom Tro 47\",\"mothaiba\"", 5000);
  sendATAndGetResponse("AT+CIFSR", 1000);   // xem đia chi IP
  sendATAndGetResponse("AT+CIPMUX=1", 1000);  //
}

void openNetworkPort(String portStr)
{
  sendATAndGetResponse("AT+CIPSERVER=1," + portStr, 1000);
}

void sendATAndGetResponse(String ATCommand, int waitMS)
{
  tmpWiFiData = "";
  wifiSerial.println(ATCommand);
  delay(waitMS);
  showWiFiSerialData();
}

void showWiFiSerialData()
{
  while (wifiSerial.available() > 0)
  {
    char c = wifiSerial.read();
    tmpWiFiData += c;
  }
  Serial.println(tmpWiFiData);
}

String sendData(String command, const int timeout, boolean debug)
{
    String response = "";
    Serial.println(command);
    long int time = millis();
    
    while( (time+timeout) > millis()){
      while(Serial.available()){
        char c = Serial.read();
        response+=c;
      }  
    }
    
    if(debug){  // co muon debug ko  neu co
      Serial.print(response);
    }
    return response;
}
void sendMessenge(String messenge){
  String cipSend = "AT+CIPSEND=0,";
  cipSend += messenge.length();
  Serial.println(messenge);
  sendATAndGetResponse(cipSend,1000);
  sendATAndGetResponse(messenge,1000);
 // sendData(cipSend,timeOut,false);
 // sendData(messenge, timeOut, false);
}