#include "BluetoothSerial.h" // library #include <ESP32Servo.h> static const int servoPin = 5; #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run make menuconfig to and enable it #endif

Servo servo1;

BluetoothSerial SerialBT; //

void setup() { Serial.begin(115200); SerialBT.begin("ESP32test"); //Bluetooth device name Serial.println("The device started, now you can pair it with bluetooth!"); pinMode(15, OUTPUT); pinMode(2, OUTPUT); pinMode(4, OUTPUT); pinMode(17, OUTPUT); pinMode(26, OUTPUT); pinMode(2, OUTPUT); pinMode(18, OUTPUT); pinMode(19, OUTPUT); pinMode(23, OUTPUT); pinMode(22, OUTPUT); digitalWrite(22, HIGH); delay(500); digitalWrite(23, HIGH); delay(500); digitalWrite(22, LOW); delay(500); digitalWrite(23, LOW); delay(500); servo1.attach(servoPin); //myServo.attach(ServoMotor); //myServo.write(0); servo1.write(0); } // error detection uint8_t calculate_checksum(uint8_t *data) { uint8_t checksum = 0; checksum |= 0b11000000 & data[1]; checksum |= 0b00110000 & data[2]; checksum |= 0b00001100 & data[3]; checksum |= 0b00000011 & data[4]; return checksum; }

void loop() { uint8_t recv_data[6]; if (SerialBT.available()) { SerialBT.readBytes(recv_data, 6); digitalWrite(22, HIGH); if (recv_data[0] != 'T') { Serial.print("Receive error!"); digitalWrite(22, LOW); return; }

if (recv_data[5] != calculate_checksum(recv_data)) {
  Serial.print("Decode error!");
  return;
}
Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]);

int rithvik = recv_data[1]; Serial.print("rithvik = "); Serial.println(rithvik); if(rithvik < 10){ digitalWrite(15, HIGH); digitalWrite(2, HIGH); digitalWrite(4, HIGH); digitalWrite(17, HIGH); digitalWrite(26, HIGH); digitalWrite(2, HIGH); digitalWrite(18, HIGH); digitalWrite(19, HIGH); servo1.write(0);

} else { digitalWrite(15, LOW); digitalWrite(2, LOW); digitalWrite(4, LOW); digitalWrite(17, LOW); digitalWrite(16, LOW); digitalWrite(2, LOW); digitalWrite(18, LOW); digitalWrite(19, LOW); servo1.write(180);

}

if(rithvik > 10 && rithvik < 20 ){ digitalWrite(15, LOW); digitalWrite(2, HIGH); digitalWrite(4, HIGH); digitalWrite(17, HIGH); digitalWrite(26, HIGH); digitalWrite(5, HIGH); digitalWrite(2, HIGH); digitalWrite(18, HIGH); digitalWrite(19, HIGH); // Move the servo to 180 degrees // delay(1000); // Wait for 1 second // servo1.write(0); } else { digitalWrite(15, LOW); digitalWrite(2, LOW); digitalWrite(4, LOW); digitalWrite(17, LOW); digitalWrite(26, LOW); digitalWrite(5, LOW); digitalWrite(2, LOW); digitalWrite(18, LOW); digitalWrite(19, LOW); // Move the servo to 180 degrees // delay(1000); // Wait for 1 second // servo1.write(0); } } delay(20); }

/*

pinMode(15, OUTPUT); pinMode(2, OUTPUT); pinMode(4, OUTPUT); pinMode(17, OUTPUT); pinMode(16, OUTPUT); pinMode(5, OUTPUT); pinMode(2, OUTPUT); pinMode(18, OUTPUT); pinMode(19, OUTPUT); */# SafeCross