We took a little break to build this two wheel drive (TWD) robot steered with the Blynk App. It was simple enough for a noon project. ESP32 is not just a WiFi or Bluetooth adapter, it was a capable enough processor. We use it to build a WiFi controlled Robot.

[hide]

Schematic

Wiring Digram

Assembly Instructions

Follow this [http://exploreembedded.com/wiki/Explore_Robo tutorial] for assembling Robot.

Code

	/*
	*
	* Blynk app controlled Robot with Horbill ESP32.
	* For more details visit:
	* https://exploreembedded.com/wiki/Robo_with_Hornbill_ESP32
	*
	*
	*/

	#define BLYNK_PRINT Serial // Comment this out to disable prints and save space
	#include <WiFi.h>
	#include <WiFiClient.h>
	#include <BlynkSimpleEsp32.h>

	//pins to drive motors
	int MotorLeft[2] = {32,33};
	int MotorRight[2] = {25,26};

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

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


	void setup()
	{
	Serial.begin(9600);
	Blynk.begin(auth, ssid, pass);
	MotorInit();
	//Serial.print("Explore Robo Mode Computer: Controlled\n\r");
	//Serial.println("Commands:\n W->Forward \n S->Backwards \n A->Left \n D->Right");
	}

	void loop()
	{

	Blynk.run();

	}

	//Intialize the motor
	void MotorInit()
	{
	int i;
	for(i=0 ; i<2; i++)
	{
	pinMode(MotorLeft[i],OUTPUT);
	pinMode(MotorRight[i],OUTPUT);
	}
	}
	//Robot Driving Functions
	void Robot_Forward()
	{
	digitalWrite(MotorLeft[0],0);
	digitalWrite(MotorLeft[1],1);
	digitalWrite(MotorRight[0],1);
	digitalWrite(MotorRight[1],0);
	}
	void Robot_Backward()
	{
	digitalWrite(MotorLeft[0],1);
	digitalWrite(MotorLeft[1],0);
	digitalWrite(MotorRight[0],0);
	digitalWrite(MotorRight[1],1);
	}
	void Robot_Left()
	{
	digitalWrite(MotorLeft[0],1);
	digitalWrite(MotorLeft[1],0);
	digitalWrite(MotorRight[0],1);
	digitalWrite(MotorRight[1],0);
	}
	void Robot_Right()
	{
	digitalWrite(MotorLeft[0],0);
	digitalWrite(MotorLeft[1],1);
	digitalWrite(MotorRight[0],0);
	digitalWrite(MotorRight[1],1);
	}

	void Robot_Stop()
	{
	digitalWrite(MotorLeft[0],0);
	digitalWrite(MotorLeft[1],0);
	digitalWrite(MotorRight[0],0);
	digitalWrite(MotorRight[1],0);
	}



	BLYNK_WRITE(V1)
	{
	int value = param.asInt(); // Get value as integer
	// Serial.println("Going Forward");
	if(value)
	{
	Robot_Forward();

	}
	}

	BLYNK_WRITE(V2)
	{
	int value = param.asInt(); // Get value as integer
	//Serial.println("Moving Right");
	if(value)
	{
	Robot_Right();
	delay(200);
	Robot_Stop();
	}
	}


	BLYNK_WRITE(V3)
	{
	int value = param.asInt(); // Get value as integer
	// Serial.println("Going back");
	if(value)
	{
	Robot_Backward();

	}
	}


	BLYNK_WRITE(V4)
	{
	int value = param.asInt(); // Get value as integer
	//Serial.println("Taking Left");
	if(value)
	{
	Robot_Left();
	delay(200);
	Robot_Stop();

	}
	}

	BLYNK_WRITE(V5)
	{
	int value = param.asInt(); // Get value as integer
	// Serial.println("Braking!!");
	if(value)
	{
	Robot_Stop();
	}
	}