Spark core rc car with camera controlled over wifi

Troubleshooting
4

I made it last week. One can drive my car over the internet on a browser that supports WebRTC. I have no wireless camera right now. Im using a webcam to show driver the car (not wireless, connected to pc).

If you just want to control your car locally, you can use a socket to connect to Spark Core. Im using a socket that is being used in libjingle that is c++ imlementation of WebRTC.

This is a page that show how to use C# socket:

This is Spark firmware I use:

/* Globals -------------------------------------------------------------------*/
    int leftMotor    = A6;
    int rightMotor   = A7;
    int forwardMotor   = D6;
    int backwardMotor  = D7;
   
   
    TCPServer server = TCPServer(80);
       
        char myIpString[24];
        void setup()
        {
            server.begin();
       
            Serial.begin(9600);
       
            delay(1000);
       
    //I expose Ip Address of the core so I can learn it from cloud and connect it with socket on my pc.
            IPAddress myIp = Network.localIP();
            sprintf(myIpString, "%d.%d.%d.%d", myIp[0], myIp[1], myIp[2], myIp[3]);
            Spark.variable("ipAddress", myIpString, STRING);
           
            pinMode(forwardMotor, OUTPUT);
            pinMode(backwardMotor, OUTPUT);
            pinMode(leftMotor, OUTPUT);
            pinMode(rightMotor, OUTPUT);
           
        }
       
       
       
     const byte LEFT = 1;
     const byte RIGHT = 2;
     const byte FORWARD = 4;
     const byte BACKWARD = 8;
     
    void rcCarControl(byte cmd)
    {
       
        if(cmd == 0){
            digitalWrite(forwardMotor,LOW);
            digitalWrite(backwardMotor,LOW);
           
            digitalWrite(leftMotor,LOW);
            digitalWrite(rightMotor,LOW);
           
            return;
        }
       
       
        if((cmd & FORWARD) == FORWARD)
        {
            digitalWrite(backwardMotor,LOW);
            digitalWrite(forwardMotor,HIGH);
        }
        else if((cmd & BACKWARD) == BACKWARD)
        {
            digitalWrite(forwardMotor,LOW);
            digitalWrite(backwardMotor,HIGH);
        }
        else{
            digitalWrite(forwardMotor,LOW);
            digitalWrite(backwardMotor,LOW);
        }
       
        if((cmd & LEFT) == LEFT)
        {
            digitalWrite(rightMotor,LOW);
            digitalWrite(leftMotor,HIGH);
        }
        else if((cmd & RIGHT) == RIGHT)
        {
            digitalWrite(leftMotor,LOW);
            digitalWrite(rightMotor,HIGH);
        }
        else
        {
            digitalWrite(leftMotor,LOW);
            digitalWrite(rightMotor,LOW);
        }
       
    }
   
    TCPClient client;
    char stopByte = 255;
    void loop()
    {
        if (client.connected()) {
            // echo all available bytes back to the client
            while (client.available()) {
               
                delay(50);
               
                for (unsigned int i = 0; i < sizeof(buffer); i++) {
                    byte c = client.read();
                    if (c == stopByte) {
                        break;
                }

                Serial.print(c);
                rcCarControl(c);
            }               
           
            delay(50);
        }
       
    } else {
        // if no client is yet connected, check for a new connection
        client = server.available();
    }
}

You will not be able to reconnect core after closing a socket connection with this code. You may want to change it.

You can also check my earlier post about my project old version.

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