#include #include const char* ssid = "PipeCrawler"; const char* password = "crawl1234"; ESP8266WebServer server(80); // Motor pins #define MOT_IN1 D1 #define MOT_IN2 D2 #define MOT_EN D3 // Drill pins #define DRL_IN1 D5 #define DRL_IN2 D6 #define DRL_EN D7 // Single ultrasonic — front only #define F_TRIG D8 #define F_ECHO D4 bool drillOn = false; float readDistance() { digitalWrite(F_TRIG, LOW); delayMicroseconds(4); digitalWrite(F_TRIG, HIGH); delayMicroseconds(10); digitalWrite(F_TRIG, LOW); long dur = pulseIn(F_ECHO, HIGH, 30000); if (dur == 0) return 999.0; return (dur * 0.0343) / 2.0; } void setDrive(int speed, bool fwd) { digitalWrite(MOT_IN1, fwd ? HIGH : LOW); digitalWrite(MOT_IN2, fwd ? LOW : HIGH); analogWrite(MOT_EN, constrain(speed, 0, 1023)); } void stopDrive() { analogWrite(MOT_EN, 0); digitalWrite(MOT_IN1, LOW); digitalWrite(MOT_IN2, LOW); } void setDrill(bool on) { drillOn = on; digitalWrite(DRL_IN1, on ? HIGH : LOW); digitalWrite(DRL_IN2, LOW); analogWrite(DRL_EN, on ? 800 : 0); } void handleForward() { setDrive(900, true); server.send(200, "text/plain", "fwd"); } void handleBackward() { setDrive(900, false); server.send(200, "text/plain", "bwd"); } void handleStop() { stopDrive(); server.send(200, "text/plain", "stop"); } void handleDrillOn() { setDrill(true); server.send(200, "text/plain", "drill_on"); } void handleDrillOff() { setDrill(false); server.send(200, "text/plain", "drill_off"); } void handleSensors() { float f = readDistance(); String json = "{\"front\":" + String(f, 1) + ",\"drill\":" + String(drillOn ? "true" : "false") + "}"; server.send(200, "application/json", json); } void handleRoot() { String html = R"rawhtml( PipeCrawler

PipeCrawler

192.168.4.1
Drive
Drill
Front Distance
--
cm
connecting...
)rawhtml"; server.send(200, "text/html", html); } void setup() { Serial.begin(115200); int out[] = {MOT_IN1,MOT_IN2,MOT_EN,DRL_IN1,DRL_IN2,DRL_EN,F_TRIG}; for(int p:out){pinMode(p,OUTPUT);digitalWrite(p,LOW);} pinMode(F_ECHO, INPUT); WiFi.softAP(ssid, password); Serial.println(WiFi.softAPIP()); server.on("/", handleRoot); server.on("/forward", handleForward); server.on("/backward",handleBackward); server.on("/stop", handleStop); server.on("/drillon", handleDrillOn); server.on("/drilloff",handleDrillOff); server.on("/sensors", handleSensors); server.begin(); } void loop() { server.handleClient(); }