// code for controlling servo motor using nodered dashboard

#include <WiFi.h>
#include <PubSubClient.h>
#include <ESP32Servo.h> 

Servo myservo;// servo onject
Servo myservo2;// servo onject 
Servo myservo3;// servo onject 
Servo myservo4;// servo onject 
Servo myservo5;// servo onject 
Servo myservo6;// servo onject  

const char* ssid = "Wokwi-GUEST";
const char* password = "";
const char* mqtt_server = "test.mosquitto.org";// MQTT broker
 
WiFiClient espClient;
PubSubClient client(espClient);
long lastMsg = 0;
char msg[50];
int value = 0;

void setup() {

  Serial.begin(115200);
   myservo.attach(2);
   myservo2.attach(4);
   myservo3.attach(5);
   myservo4.attach(18);
  setup_wifi();
  client.setServer(mqtt_server, 1883);
  client.setCallback(callback);
}
void setup_wifi() {
  delay(10);
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
}
void callback(char* topic, byte* payload, unsigned int length) {
   String string;
  Serial.print("Message arrived [");
  Serial.print(topic);
  Serial.print("] ");
  for (int i = 0; i < length; i++) {
     string+=((char)payload[i]);  
  }
    Serial.print(string);
if (String(topic) == "Servo-nodered1") {  /// esp32 subscribe topic   
    int degree = string.toInt(); // Convert the received data to an integer
    Serial.print("Moving servo to degree: ");
    Serial.println(degree);
    myservo.write(degree); // Move the servo to the specified degree
    delay(15);  
}
 else if (String(topic) == "Servo-nodered2") {
    int degree = string.toInt(); // Convert the received data to an integer
    Serial.print("Moving servo to degree: ");
    Serial.println(degree);
    myservo2.write(degree); // Move the servo to the specified degree
    delay(15);
  }
 else if (String(topic) == "Servo-nodered3") {
    int degree = string.toInt(); // Convert the received data to an integer
    Serial.print("Moving servo to degree: ");
    Serial.println(degree);
    myservo3.write(degree); // Move the servo to the specified degree
    delay(15);
  }
 else if (String(topic) == "Servo-nodered4") {
    int degree = string.toInt(); // Convert the received data to an integer
    Serial.print("Moving servo to degree: ");
    Serial.println(degree);
    myservo4.write(degree); // Move the servo to the specified degree
    delay(15);
  }
}
void reconnect() {
  while (!client.connected()) {
    Serial.print("Attempting MQTT connection...");
    if (client.connect("ESPClient")) {
      Serial.println("connected");
      client.subscribe("Servo-nodered1");
      client.subscribe("Servo-nodered2");
      client.subscribe("Servo-nodered3");
      client.subscribe("Servo-nodered4");
    } else {
      Serial.print("failed, rc=");
      Serial.print(client.state());
      Serial.println(" try again in 5 seconds"); 
      delay(5000);
   }}}
void loop() {
  if (!client.connected()) {
    reconnect();
  }
  client.loop(); 
 delay(100);
 
}