#include <WiFi.h>
#include <HTTPClient.h>

const char* ssid = "ESP32-Access-Point";
const char* password = "123456789";

//Your IP address or domain name with URL path
const char* serverNameForward = "http://192.168.4.1/forward";
const char* serverNameSideways = "http://192.168.4.1/sideways";
String forward;
String sideways;
int ENA = 04;
int IN1 = 02;
int IN2 = 14;

int IN3 = 15;
int IN4 = 13;
int ENB = 12;

unsigned long previousMillis = 0;
const long interval = 100; 
const int frequency = 500;
const int pwm_channel = 0;
const int resolution = 8;

void setup() {
  Serial.begin(115200);
  Serial.println("Starting");
  //pinMode(ENA, OUTPUT);
  //pinMode(IN1, OUTPUT);
  //pinMode(IN2, OUTPUT); 
  //pinMode(IN3, OUTPUT);
  //pinMode(IN4, OUTPUT);
  //pinMode(ENB, OUTPUT);

  //digitalWrite(IN1, LOW);
  //digitalWrite(IN2, LOW);
  //digitalWrite(IN3, LOW);
  //digitalWrite(IN4, LOW);

  //ledcSetup(pwm_channel, frequency, resolution);
  //ledcAttachPin(ENA, pwm_channel);

 // ledcWrite(pwm_channel, 10);

  WiFi.begin(ssid, password);
  Serial.println("Connecting");
  while(WiFi.status() != WL_CONNECTED) { 
    delay(100);
    Serial.println(".");
  }
  Serial.println("");
  Serial.print("Connected to WiFi network with IP Address: ");
  Serial.println(WiFi.localIP());
}

void loop() {
  unsigned long currentMillis = millis();

  if(currentMillis - previousMillis >= interval) {
     // Check WiFi connection status
    if(WiFi.status()== WL_CONNECTED ){ 
      forward = httpGETRequest(serverNameForward);
      sideways = httpGETRequest(serverNameSideways);
      Serial.println("Forward: " + forward);
      Serial.println("Sideways: " + sideways);

      digitalWrite(IN1, LOW);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, LOW);

      if(forward.toInt() > 2500) {
        Serial.println("Going forward"); 
        digitalWrite(IN1, HIGH);
        digitalWrite(IN2, LOW);
        digitalWrite(IN3, HIGH);
        digitalWrite(IN4, LOW);
      }
      if(forward.toInt() < 1500) {
        Serial.println("Going backward");
        digitalWrite(IN1, LOW);
        digitalWrite(IN2, HIGH);
        digitalWrite(IN3, LOW);
        digitalWrite(IN4, HIGH);
      }

      if(sideways.toInt() > 2500) {
        Serial.println("Going left"); 
        digitalWrite(IN1, HIGH);
        digitalWrite(IN2, LOW);
        digitalWrite(IN3, LOW);
        digitalWrite(IN4, HIGH);
      }
      if(sideways.toInt() < 1500) {
        Serial.println("Going right");
        digitalWrite(IN1, LOW);
        digitalWrite(IN2, HIGH);
        digitalWrite(IN3, HIGH);
        digitalWrite(IN4, LOW);
      }



      // save the last HTTP GET Request
      previousMillis = currentMillis;
    }
    else {
      Serial.println("WiFi Disconnected");
      delay(1000);
    }
  }


}

String httpGETRequest(const char* serverName) {
  WiFiClient client;
  HTTPClient http;
    
  // Your Domain name with URL path or IP address with path
  http.begin(client, serverName);
  
  // Send HTTP POST request
  int httpResponseCode = http.GET();
  
  String payload = "--"; 
  
  if (httpResponseCode>0) {
    // Serial.print("HTTP Response code: ");
    // Serial.println(httpResponseCode);
    payload = http.getString();
  }
  else {
    Serial.print("Error code: ");
    Serial.println(httpResponseCode);
  }
  // Free resources
  http.end();

  return payload;
}