2 STepper Kondisi - Wokwi ESP32, STM32, Arduino Simulator

// belum jalan
#include <WiFi.h>
#include <WebServer.h>
#include <AccelStepper.h>
#include <LiquidCrystal_I2C.h>
// KONFIGURASI PIN
const int stepL   = 12; 
const int dirL    = 14;
const int stepR   = 17; 
const int dirR    = 16;
const int pinIRL  = 32; 
const int pinIRC  = 33; 
const int pinIRR  = 35;
const int trigPin =  5; 
const int echoPin = 18;
const int btnPin  = 34;
// OBJEK & PEMUBAH
AccelStepper stepperL(1, stepL, dirL);
AccelStepper stepperR(1, stepR, dirR);
LiquidCrystal_I2C lcd(0x27,16,2);
WebServer server(80);
bool isMoving = false;
int threshold = 500; 
String statusRobot = "Sedia Menerima Tugas";
String destination = "Tiada"; // Ini selesaikan ralat 'not declared'

// WEB INTERFACE
void setupServer(){
  server.on("/", [](){
    String html = "<html><head><meta name='viewport' content='width=device-width, initial-scale=1'>";
    html += "<style>body{font-family:sans-serif; text-align:center; background:#f0f2f5; padding:20px;}";
    html += ".card{background:white; max-width:350px; margin:auto; padding:25px; border-radius:20px; box-shadow:0 10px 25px rgba(0,0,0,0.1);}";
    html += ".status{background:#d1e7ff; color:#004085; padding:15px; border-radius:10px; margin:15px 0; font-weight:bold;}";
    html += ".btn{display:block; padding:15px; margin:10px 0; border:none; border-radius:10px; color:white; font-weight:bold; cursor:pointer; text-decoration:none;}";
    html += ".btn-blue{background:#007bff;} .btn-purple{background:#6f42c1;} .btn-orange{background:#fd7e14;}";
    html += "</style></head><body><div class='card'>";
    html += "<h2>🤖 Robot Menu</h2>";
    html += "<div class='status'>STATUS: " + statusRobot + "</div>";
    html += "<a href='/go?dest=Meja A' class='btn btn-blue'>HANTAR KE MEJA A</a>";
    html += "<a href='/go?dest=Meja B' class='btn btn-purple'>HANTAR KE MEJA B</a>";
    html += "<hr><a href='/go?dest=Docking' class='btn btn-orange'>BALIK KE DOCKING</a>";
    html += "</div></body></html>";
    server.send(200, "text/html", html);});

  server.on("/go", [](){
    destination = server.arg("dest");
    statusRobot = "Sedang ke " + destination;
    isMoving = true;
    server.send(200, "text/html", "<script>location.href='/';</script>");});
  server.begin();}

void setup(){
  Serial.begin(115200);
  pinMode(pinIRL, INPUT); 
  pinMode(pinIRC, INPUT); 
  pinMode(pinIRR, INPUT);
  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin,  INPUT);
  pinMode(btnPin, INPUT_PULLUP);
  stepperL.setMaxSpeed(1000); 
  stepperR.setMaxSpeed(1000);
  lcd.init(); lcd.backlight();  
  WiFi.begin("Wokwi-GUEST", "");
  while (WiFi.status() != WL_CONNECTED){ 
    delay(500); 
    Serial.print(".");}
  setupServer();
  lcd.clear(); lcd.print("Robot Online");}

void loop(){
  server.handleClient();  
  if(isMoving){
    // Logik gerak motor (Forward)
    stepperL.setSpeed(600); stepperR.setSpeed(600);
    stepperL.runSpeed(); stepperR.runSpeed();}
  else{
    stepperL.setSpeed(0); stepperR.setSpeed(0);
    stepperL.runSpeed(); stepperR.runSpeed();}
  if(digitalRead(btnPin) == LOW){
    isMoving = false;
    statusRobot = "Tugas Selesai";}}