TestaBT.ino

// Ref: https://www.keuwl.com/electronics/rduino/bluet/10-stepper-motor/
#define L1B 27 //left motor1 l293d pin2 (backward)
#define L1F 26 //left motor1 l293d pin7 (forward)
#define R1B 33 //right motor2 l293d pin15 (backward)
#define R1F 32 //right motor2 l293d pin10 (forward)
#define S1L 14 //left enable pin for left motor1 l293d pin1 (speed)
#define S1R 25 //right enable pin for right motor2 l293d pin9 (speed)

#define TAL 13 //enable taillight
#define BAL 12 //enable bracklight
#define LGH 5 //enable lights
#define EML 4 //enable emergencelights
#define INT 0 //int ADPS9960
#define SDA 34 //sda ADPS9960
#define SCL 35 //scl ADPS9960

#define L2B 17 //left motor3 l293dB pin2 (backward)
#define L2F 16 //left motor3 l293dB pin7 (forward)
#define R2B 23 //right motor4 l293dB pin15 (backward)
#define R2F 22 //right motor4 l293dB pin10 (forward)
#define S2L 18 //left enable pin for left motor l293dB pin1 (speed)
#define S2R 19 //right enable pin for right motor l293dB pin9 (speed)

int LM = 0; //speed of left motor front
int RM = 0; //speed of right motor front
int LMR = 0; //speed of left motor rear
int RMR = 0; //speed of right motor rear

//Biblioteca para habilitar a comunicação SERIAL
#include "BluetoothSerial.h"

//Verifica se o bluetooth esta habilitado corretamente
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
BluetoothSerial SerialBT;

//void leSerial();
void leBluetooth();
//void escreveBluetooth();

const int freq = 7000;
const int pwmChannel = 0;
const int pwmChannel2 = 1;
const int pwmChannel3 = 2;
const int pwmChannel4 = 3;
const int resolution = 8;
int dutyCycle = 255;
float xval, yval;
char dado;

// StartPressed; //start lights levelone
// RedPressed; //turbo motors l293dB
// LeftPressed; //double left
// RightPressed; //double right
// CirclePressed; //high ligths
// TrianglePressed; //emergence ligths
// CrossPressed; //brack lights

//-----------------------------------------------------------------------------
void setup() {
  Serial.begin(115200);
  SerialBT.begin("ESP32_BTEL");
  Serial.println("O dispositivo foi iniciado, agora você pode emparelhá-lo com bluetooth!");

  pinMode(L1B, OUTPUT);
  pinMode(L1F, OUTPUT);
  pinMode(R1B, OUTPUT);
  pinMode(R1F, OUTPUT);
  pinMode(S1L, OUTPUT);
  pinMode(S1R, OUTPUT);
  pinMode(TAL, OUTPUT);
  pinMode(BAL, OUTPUT);
  pinMode(LGH, OUTPUT);
  pinMode(EML, OUTPUT);
  pinMode(INT, OUTPUT);
  pinMode(SDA, OUTPUT);
  pinMode(SCL, OUTPUT);
  pinMode(L2B, OUTPUT);
  pinMode(L2F, OUTPUT);
  pinMode(R2B, OUTPUT);
  pinMode(R2F, OUTPUT);
  pinMode(S2L, OUTPUT);
  pinMode(S2R, OUTPUT);

  ledcSetup(pwmChannel, freq, resolution);
  ledcAttachPin(S1L, pwmChannel);
  ledcAttachPin(S1R, pwmChannel2);
  ledcAttachPin(S2L, pwmChannel3);
  ledcAttachPin(S2R, pwmChannel4);
}
//-----------------------------------------------------------------------------
void loop() {
  leBluetooth();
  delay(20);

  if (yval > 0)  {
    // Serial.print(yval); Serial.println(" ");
    digitalWrite(L1B, HIGH);
    digitalWrite(L1F, LOW);
    if (xval >= 0)
    {
      LM = map(abs(abs(yval) - xval), 0, 7, 0, 255);
      RM = map((abs(yval)), 0, 7, 0, 255);
      Serial.print(LM); Serial.print(" "); Serial.println(RM);
    }

    digitalWrite(R1B, HIGH);
    digitalWrite(R1F, LOW);
    if (xval <= 0)
    {
      LM = map((abs(yval)), 0, 7, 0, 255);
      RM = map(abs(abs(yval) + xval), 0, 7, 0, 255);
      Serial.print(LM); Serial.print(" "); Serial.println(RM);
    }
  }


  if (yval < 0 ) {
    // Serial.print(yval); Serial.println(" ");
    digitalWrite(L1B, LOW);
    digitalWrite(L1F, HIGH);
    if (xval >= 0)
    {
      LM = map(abs(abs(yval) - xval), 0, 7, 0, 255);
      RM = map((abs(yval)), 0, 7, 0, 255);
      Serial.print(LM); Serial.print(" "); Serial.println(RM);
    }

    digitalWrite(R1B, LOW);
    digitalWrite(R1F, HIGH);
    if (xval <= 0)
    {
      LM = map((abs(yval)), 0, 7, 0, 255);
      RM = map(abs(abs(yval) + xval), 0, 7, 0, 255);
      Serial.print(LM); Serial.print(" "); Serial.println(RM);
    }
  }

  ledcWrite(pwmChannel, LM);
  ledcWrite(pwmChannel2, RM);
  ledcWrite(pwmChannel3, LMR);
  ledcWrite(pwmChannel4, RMR);
}
//-----------------------------------------------------------------------------
void leBluetooth() {
  if (SerialBT.available())
  {
    dado = SerialBT.read();
    //Serial.print(dado); Serial.print(" ");
    if (dado == 'X')
    {
      xval = SerialBT.parseInt();
      //Serial.print(xval, 2);
      while (dado != '*')
      {
        if (SerialBT.available())
        {
          dado = SerialBT.read(); //Get next character from bluetooth
          if (dado == 'Y')
          {
            //Serial.print(dado); Serial.print(" ");
            yval = SerialBT.parseInt();
            //Serial.print(yval, 2);
          }
        }
      }
      //Serial.println(" ");
    }
  }
}