Purpose:
這個專題結合了ESP32CAM影像Web傳輸及Web http Control Mecanum wheel Car to move.
Fundamental&BOM:
Mecanum wheel and TT motor
Reference https://en.wikipedia.org/wiki/Mecanum_wheel
方向控制:
L298N
Mega2560
Circuit:
https://randomnerdtutorials.com/esp32-cam-car-robot-web-server/
All source code put on:
ESP32CAM Code:
#include <WiFi.h>
#include "soc/soc.h" //用於電源不穩不重開機
#include "soc/rtc_cntl_reg.h" //用於電源不穩不重開機
#include "esp_camera.h"
// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
#define CAMERA_MODEL_AI_THINKER
const char* ssid = "ras_2.4"; //Enter SSID WIFI Name
const char* password = "181415181415"; //Enter WIFI Password
#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 19
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 5
#define Y2_GPIO_NUM 4
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif defined(CAMERA_MODEL_AI_THINKER)
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#else
#error "Camera model not selected"
#endif
// GPIO Setting
extern int gpLb = 2; // Left 1
extern int gpLf = 14; // Left 2
extern int gpRb = 15; // Right 1
extern int gpRf = 13; // Right 2
extern int gpLed = 4; // Light
extern String WiFiAddr ="";
void startCameraServer();
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //關閉電源不穩就重開機的設定
Serial.begin(115200);
Serial.setDebugOutput(true);
Serial.println();
setupCam();
pinMode(gpLb, OUTPUT); //Left Backward
pinMode(gpLf, OUTPUT); //Left Forward
pinMode(gpRb, OUTPUT); //Right Forward
pinMode(gpRf, OUTPUT); //Right Backward
pinMode(gpLed, OUTPUT); //Light
//initialize
digitalWrite(gpLb, LOW);
digitalWrite(gpLf, LOW);
digitalWrite(gpRb, LOW);
digitalWrite(gpRf, LOW);
digitalWrite(gpLed, LOW);
WifiConnect();
startCameraServer();
Serial.print("Camera Ready! Use 'http://");
Serial.print(WiFi.localIP());
Serial.println("' to connect");
}
void loop()
{
while(1)
{
if (WiFi.status() != WL_CONNECTED)
{
WifiConnect();
}
}
}
//-----------------------------------------
//開始WiFi連線
void WifiConnect()
{
//開始WiFi連線
//WiFi.begin("Wokwi-GUEST", "", 6);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(".");
}
WiFiAddr = WiFi.localIP().toString();
Serial.print("IP Address:");
Serial.println(WiFi.localIP());
Serial.println("WiFi連線成功");
}
//-----------------------------------------
//鏡頭設定
void setupCam() {
// #define CAMERA_MODEL_AI_THINKER
//視訊組態設定 https://github.com/espressif/esp32-camera/blob/master/driver/include/esp_camera.h
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
//
// WARNING!!! PSRAM IC required for UXGA resolution and high JPEG quality
// Ensure ESP32 Wrover Module or other board with PSRAM is selected
// Partial images will be transmitted if image exceeds buffer size
//
// if PSRAM IC present, init with UXGA resolution and higher JPEG quality
// for larger pre-allocated frame buffer.
if(psramFound()){ //是否有PSRAM(Psuedo SRAM)記憶體IC
config.frame_size = FRAMESIZE_UXGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_SVGA;
config.jpeg_quality = 12;
config.fb_count = 1;
}
//視訊初始化
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
Serial.printf("Camera init failed with error 0x%x", err);
ESP.restart();
}
//可自訂視訊框架預設大小(解析度大小)
sensor_t * s = esp_camera_sensor_get();
// initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV3660_PID) {
s->set_vflip(s, 1); // flip it back
s->set_brightness(s, 1); // up the brightness just a bit
s->set_saturation(s, -2); // lower the saturation
}
// drop down frame size for higher initial frame rate
s->set_framesize(s, FRAMESIZE_CIF); //解析度 UXGA(1600x1200), SXGA(1280x1024), XGA(1024x768), SVGA(800x600), VGA(640x480), CIF(400x296), QVGA(320x240), HQVGA(240x176), QQVGA(160x120), QXGA(2048x1564 for OV3660)
//s->set_vflip(s, 1); //垂直翻轉
//s->set_hmirror(s, 1); //水平鏡像
//s->set_pRotation(s, 1); //0=不旋轉 1-轉90度 2- 轉180度 3-轉270
}
Mega2560 Code:
#include <Robojax_L298N_DC_motor.h>
#include <Servo.h>
//-------------L298(1)---------------------------------------------------
// motor 1 settings
#define CHA_1 0
#define ENA_1 2 // this pin must be PWM enabled pin if Arduino board is used
#define IN1_1 30
#define IN2_1 32
// motor 2 settings
#define IN3_1 34
#define IN4_1 36
#define ENB_1 7// this pin must be PWM enabled pin if Arduino board is used
#define CHB_1 1
//-------------L298(2)---------------------------------------------------
// motor 3 settings
#define CHA_2 0
#define ENA_2 2 // this pin must be PWM enabled pin if Arduino board is used
#define IN1_2 38
#define IN2_2 40
// motor 4 settings
#define IN3_2 42
#define IN4_2 44
#define ENB_2 7// this pin must be PWM enabled pin if Arduino board is used
#define CHB_2 1
const int CCW = 2; // do not change
const int CW = 1; // do not change
#define motor1 1
#define motor2 2
// for two motors without debug information // Watch video instruciton for this line: https://youtu.be/2JTMqURJTwg
Robojax_L298N_DC_motor motors1(IN1_1, IN2_1, ENA_1, CHA_1, IN3_1, IN4_1, ENB_1, CHB_1);
Robojax_L298N_DC_motor motors2(IN1_2, IN2_2, ENA_2, CHA_2, IN3_2, IN4_2, ENB_2, CHB_2);
#define Pin22 22
#define Pin23 23
#define Pin24 24
#define Pin25 25
Servo servo1; //底座
Servo servo2; //左臂
Servo servo3; //右臂
Servo servo4; //夾子
void setup()
{
Serial.begin(9600);
pinMode(Pin22, INPUT);
pinMode(Pin23, INPUT);
pinMode(Pin24, INPUT);
pinMode(Pin25, INPUT);
Serial.println(F("init"));
pinMode(IN1_1, OUTPUT);
pinMode(IN2_1, OUTPUT);
pinMode(IN3_1, OUTPUT);
pinMode(IN4_1, OUTPUT);
pinMode(ENA_1, OUTPUT);
pinMode(ENB_1, OUTPUT);
pinMode(IN1_2, OUTPUT);
pinMode(IN2_2, OUTPUT);
pinMode(IN3_2, OUTPUT);
pinMode(IN4_2, OUTPUT);
pinMode(ENA_2, OUTPUT);
pinMode(ENB_2, OUTPUT);
servo1.attach(8); // 設置舵機控制腳位
servo2.attach(9);
servo3.attach(10);
servo4.attach(11);
servo1.write(30);
servo2.write(50);
servo3.write(20);
servo4.write(20);
}
void loop()
{
char key = 0;
int a=1,b=1,c=1,d=1;
int fg = 0;
boolean flag= false;
while(1)
{
if ( Serial.available())
{
key = Serial.read();
flag=true;
}
a= digitalRead (Pin22);
b= digitalRead (Pin23);
c= digitalRead (Pin24);
d= digitalRead (Pin25);
Serial.print(digitalRead(22)) ; //purple > 14
Serial.print(digitalRead(23)) ; //blue 2
Serial.print(digitalRead(24)) ; //yellow > 13
Serial.println(digitalRead(25)); //15
if (flag==false)
{
if (a==1 and b==0 and c==1 and d==0) {
key ='f';
}
else if (a==0 and b==1 and c==0 and d==1) {
key ='b';
}
else if (a==1 and b==0 and c==0 and d==1) {
key ='x';
}
else if (a==0 and b==1 and c==1 and d==0) {
key ='y';
}
else if (a==0 and b==0 and c==1 and d==1) {
key ='a';
}
else if (a==1 and b==1 and c==0 and d==0) {
key ='c';
}
else if (a==0 and b==0 and c==0 and d==0) {
key ='s';
}
else if (a==1 and b==1 and c==1 and d==1) {
key ='s';
}
else if (a==0 and b==0 and c==0 and d==1) { //---servo action 1 A1 Stretch
key ='1';
}
else if (a==0 and b==0 and c==1 and d==0) { //---servo action 2 A2 Clip
key ='2';
}
else if (a==0 and b==1 and c==0 and d==0) { //---servo action 3 A3 Retract
key ='3';
}
else if (a==1 and b==0 and c==0 and d==0) { //---servo action 4 A4 Turn
key ='4';
}
else if (a==1 and b==1 and c==1 and d==0) { //---servo action 5 A5 Release<
key ='5';
}
else if (a==1 and b==1 and c==0 and d==1) { //---servo action 6 A6 Origin
key ='6';
}
else if (a==1 and b==0 and c==1 and d==1) { //---servo action 7
key ='7';
}
else if (a==0 and b==1 and c==1 and d==1) { //---servo action 8
key ='8';
}
}
switch ( key ) {
case 'f': // 前進
Serial.println(F("Forward"));
Forward();
break;
case 'b': // 後退
Serial.println(F("Reverse"));
Reverse();
break;
case 'l': // 左移
Serial.println(F("Left"));
Left();
break;
case 'r': // 右移
Serial.println(F("Right"));
Right();
break;
case 'a': // 左平移
Serial.println(F("ShiftLeft"));
S_Left();
break;
case 'c': // 右平移
Serial.println(F("ShiftRight"));
S_Right();
break;
case 'x': // 逆左旋轉
Serial.println(F("X"));
Xtrun();
break;
case 'y': // 順右旋轉
Serial.println(F("Y"));
Ytrun();
break;
case '1': // 伸爪
Serial.println(F("3"));
servo3.write(40);
delay(500);
Serial.println(F("1"));
servo1.write(50);
delay(500);
servo1.write(70);
delay(500);
servo1.write(90);
delay(500);
servo1.write(130);
delay(500);
servo1.write(160);
delay(500);
break;
case '2': // 夾
Serial.println(F("2"));
servo2.write(70);
delay(500);
servo2.write(100);
delay(500);
servo2.write(140);
delay(500);
break;
case '3': //收爪
Serial.println(F("1"));
servo1.write(110);
delay(500);
servo1.write(90);
delay(500);
servo1.write(50);
delay(500);
servo1.write(30);
delay(500);
break;
case '4': //後轉
Serial.println(F("4"));
servo4.write(60);
delay(500);
servo4.write(90);
delay(500);
servo4.write(120);
delay(500);
servo4.write(160);
delay(500);
servo4.write(180);
delay(500);
break;
case '5': //放夾
Serial.println(F("2"));
servo2.write(120);
delay(500);
servo2.write(90);
delay(500);
servo2.write(50);
delay(500);
/**
Serial.println(F("4"));
servo4.write(160);
delay(500);;
servo4.write(120);
delay(500);
servo4.write(80);
delay(500);
servo4.write(40);
delay(500);
servo4.write(20);
delay(500);**/
break;
case '6': //回原點
Serial.println(F("4"));
servo4.write(160);
delay(500);;
servo4.write(120);
delay(500);
servo4.write(80);
delay(500);
servo4.write(40);
delay(500);
servo4.write(20);
delay(500);
break;
case 's': // 前進
//Serial.println(F("Stop"));
Stop();
break;
default:
Stop();
flag= false;
break;
}
} //---while(1)
}
void Forward() //電機前進
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CW);//run motor2 at 60% speed in CW direction (4)
}
void Reverse(){
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CCW);
motors1.rotate(motor2, 70, CW);
motors2.rotate(motor1, 70, CW);
motors2.rotate(motor2, 70, CCW);
}
void Left()
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CW);//run motor1 at 60% speed in CW direction (1)
//motors1.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction (2)
//motors2.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CW);//run motor2 at 60% speed in CW direction (4)
}
void S_Left() //左平移
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CW);//run motor2 at 60% speed in CW direction (4)
}
void S_Right() //右平移
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CW direction (4)
}
void Right() //右
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
//motors1.rotate(motor1, 70, CW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CCW direction (3)
//motors2.rotate(motor2, 70, CW);//run motor2 at 60% speed in CW direction (4)
}
void Ytrun() // 逆右旋轉
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CCW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CW);//run motor2 at 60% speed in CW direction (4)
}
void Xtrun() // 逆左旋轉
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
motors1.rotate(motor1, 70, CW);//run motor1 at 60% speed in CW direction (1)
motors1.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CCW direction (2)
motors2.rotate(motor1, 70, CW);//run motor1 at 60% speed in CCW direction (3)
motors2.rotate(motor2, 70, CCW);//run motor2 at 60% speed in CW direction (4)
}
void Stop() //電機停止
{
motors1.brake(1);
motors1.brake(2);
motors2.brake(1);
motors2.brake(2);
}
YouTubeDemo:
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