esp32cam-robot.ino

/*
ESP32-CAM Remote Control
https://www.esp32.com/viewtopic.php?f=19&t=11337
*/

#include "esp_camera.h"
#include "esp_wifi.h"
#include "soc/rtc_cntl_reg.h"
#include "soc/soc.h"
#include <WiFi.h>

//
// WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
//            or another board which has PSRAM enabled
//

// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
#define CAMERA_MODEL_AI_THINKER

#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_M5STACK_PSRAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23

#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21

#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

void startCameraServer();

constexpr int LEFT_MOTOR_PIN_FWD = 12;
constexpr int LEFT_MOTOR_PIN_REV = 13;
constexpr int RIGHT_MOTOR_PIN_FWD = 14;
constexpr int RIGHT_MOTOR_PIN_REv = 15;

constexpr int LEFT_MOTOR_CHANNEL_FWD = 3;
constexpr int LEFT_MOTOR_CHANNEL_REV = 4;
constexpr int RIGHT_MOTOR_CHANNEL_FWD = 5;
constexpr int RIGHT_MOTOR_CHANNEL_REV = 6;

constexpr int MOTOR_PWM_FREQ = 2000; // 2000 hz freq
constexpr int MOTOR_PWM_RESOLUTION = 8; // 0-256 duty cycle resolution

const char *ssid = "SSID";
const char *password = "Passphrase";


void initMotors() {
  // TODO define the different PWM devices
  ledcSetup(LEFT_MOTOR_CHANNEL_FWD, MOTOR_PWM_FREQ, MOTOR_PWM_RESOLUTION);
  ledcSetup(LEFT_MOTOR_CHANNEL_REV, MOTOR_PWM_FREQ, MOTOR_PWM_RESOLUTION);
  ledcSetup(RIGHT_MOTOR_CHANNEL_FWD, MOTOR_PWM_FREQ, MOTOR_PWM_RESOLUTION);
  ledcSetup(RIGHT_MOTOR_CHANNEL_REV, MOTOR_PWM_FREQ, MOTOR_PWM_RESOLUTION);

  ledcAttachPin(MotPin0, 3);
  ledcAttachPin(MotPin1, 4);
  ledcAttachPin(MotPin2, 5);
  ledcAttachPin(MotPin3, 6);
}

void setup() {
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG,
                 0); // prevent brownouts by silencing them

  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  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;

  // init with high specs to pre-allocate larger buffers
  if (psramFound()) {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }

  // camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }

  // drop down frame size for higher initial frame rate
  sensor_t *s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);

  // Remote Control Car
  initMotors();

  ledcSetup(7, 5000, 8);
  ledcAttachPin(4, 7); // pin4 is LED

  Serial.println("ssid: " + (String)ssid);
  // Serial.println("password: " + (String)password);

  WiFi.begin(ssid, password);
  delay(500);

  long int StartTime = millis();
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    if ((StartTime + 10000) < millis()) break;
  }

  // int8_t power;
  // esp_wifi_set_max_tx_power(20);
  // esp_wifi_get_max_tx_power(&power);
  // Serial.printf("wifi power: %d \n",power);

  startCameraServer();

  if (WiFi.status() == WL_CONNECTED) {
    Serial.println("");
    Serial.println("WiFi connected");
    Serial.print("Camera Ready! Use 'http://");
    Serial.print(WiFi.localIP());
    Serial.println("' to connect");
  } else {
    Serial.println("");
    Serial.println("WiFi disconnected");
    Serial.print("Camera Ready! Use 'http://");
    Serial.print(WiFi.softAPIP());
    Serial.println("' to connect");
    char *apssid = "ESP32-CAM";
    char *appassword = "12345678"; // AP password require at least 8 characters.
    WiFi.softAP((WiFi.softAPIP().toString() + "_" + (String)apssid).c_str(), appassword);
  }

  for (int i = 0; i < 5; i++) {
    ledcWrite(7, 10); // flash led
    delay(200);
    ledcWrite(7, 0);
    delay(200);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  delay(1000);
  Serial.printf("RSSi: %ld dBm\n", WiFi.RSSI());
}