Web Enabled 4 Wheeled Robot using a Photon

// -----------------------------------


// Controlling LEDs over the Internet


// -----------------------------------



// First, let's create our "shorthand" for the pins

// Same as in the Blink an LED example:


// led1 is D0, led2 is D7




int led1 = D0;


int led2 = D7;



int led3 = D1; //motorA+

int led4 = D2; //motorA-

int led5 = D3; //motorB+

int led6 = D4; //motorB-

int led7 = D5; //pwm INA

int led8 = D6; //pwm INB








// Last time, we only needed to declare pins in the setup function.



// This time, we are also going to register our Spark function







void setup()



{


   
   // Here's the pin configuration, same as last time


   
   pinMode(led1, OUTPUT);

   
   pinMode(led2, OUTPUT);

      pinMode(led3, OUTPUT); //motorA+

      pinMode(led4, OUTPUT); //motorA-
   
      pinMode(led5, OUTPUT); //motorB+
   
      pinMode(led6, OUTPUT); //motorB-
   
      pinMode(led7, OUTPUT); //pwm INA
   
      pinMode(led8, OUTPUT); //pwm INB
  

   
      

      // We are also going to declare a Spark.function so that we can turn the LED 

on and off from the cloud.
   
   
      Spark.function("led",ledToggle);



      // This is saying that when we ask the cloud for the function "led", it will 

employ the function ledToggle() from this app.

   
   
   

      // For good measure, let's also make sure both LEDs are off when we start:


   
   digitalWrite(led1, LOW);

   
   digitalWrite(led2, LOW);



      digitalWrite(led3, LOW);                // GET /S STOP
   
      digitalWrite(led4, LOW);
   
      digitalWrite(led5, LOW);               
   
      digitalWrite(led6, LOW);
   
      digitalWrite(led7, LOW);
      digitalWrite(led8, LOW);

}







// Last time, we wanted to continously blink the LED on and off



// Since we're waiting for input through the cloud this time,



// we don't actually need to put anything in the loop





void loop()



{

   
// Nothing to do here



}






// We're going to have a super cool function now that gets called when a 

matching API request is sent



// This is the ledToggle function we registered to the "led" Spark.function 

earlier.







int ledToggle(String command) {
    
    

    /* Spark.functions always take a string as an argument and return an 

integer.

    
Since we can pass a string, it means that we can give the program commands 

on how the function should be used.
    
    
    In this case, telling the function "on" will turn the LED on and telling it 

"off" will turn the LED off.
     
    Then, the function returns a value to us to 

let us know what happened.
    
    
    In this case, it will return 1 for the LEDs turning on, 0 for the LEDs 

turning off,
    
    
    and -1 if we received a totally bogus command that didn't do anything to 

the LEDs.
    
    
    */

 


   

 if (command=="on") {


          digitalWrite(led1,HIGH);


          digitalWrite(led2,HIGH);


          return 1;


    }


    else if (command=="off") {


          digitalWrite(led1,LOW);


          digitalWrite(led2,LOW);


          return 0;


    }

    else if (command=="w") {


          digitalWrite(led3, HIGH);               //D1 motor A+ GET /W moves FORWARD

          digitalWrite(led4, LOW);
		  //D2
          digitalWrite(led5, HIGH);		  //D3 MOTOR B+
          digitalWrite(led6, LOW);                //D4
          digitalWrite(led7, HIGH);               //D5
          digitalWrite(led8, HIGH); 		  //D6
          delay(300);

          digitalWrite(led3, LOW);

          digitalWrite(led5, LOW);


          return 2;


    }


    else if (command=="x") {


          digitalWrite(led3, LOW);               // GET /X moves REVERSE

          digitalWrite(led4, HIGH);		 // MOTOR A-
          digitalWrite(led5, LOW);
          
digitalWrite(led6, HIGH);		 // MOTOR B-
          digitalWrite(led7, HIGH);
          digitalWrite(led8, HIGH);

          delay(300);

          digitalWrite(led4, LOW);

          digitalWrite(led6, LOW);


          return 3;


    }


    else if (command=="s") {


          digitalWrite(led7, LOW);                // GET /S STOP

          digitalWrite(led8, LOW);

          digitalWrite(led3, LOW);
          digitalWrite(led4, LOW);

          digitalWrite(led5, LOW);
          digitalWrite(led6, LOW);

          delay(30);


          return 4;


    }


    else if (command=="a") {


          digitalWrite(led3, LOW);               // GET /A moves LEFT

          digitalWrite(led4, HIGH);
          digitalWrite(led5, HIGH);
          
digitalWrite(led6, LOW);

          digitalWrite(led7, HIGH);
          digitalWrite(led8, HIGH);

          delay(300);

          digitalWrite(led4, LOW);
          digitalWrite(led5, LOW);


          return 5;


    }


    else if (command=="d") {


          digitalWrite(led3, HIGH);               // GET /D moves RIGHT

          digitalWrite(led4, LOW);
          digitalWrite(led5, LOW);
          
digitalWrite(led6, HIGH);

          digitalWrite(led7, HIGH);
          digitalWrite(led8, HIGH);

          delay(300);

          digitalWrite(led3, LOW);

          digitalWrite(led6, LOW);


          return 6;


    }


    else {


          return -1;


    }


}