Circuit Documentation

Summary

This circuit involves an Arduino UNO microcontroller, an ESP32-CAM module, two L298N DC motor drivers, four DC motors, a 12V battery, a 3.3V battery, and two rocker switches. The Arduino UNO controls the motor drivers and the ESP32-CAM, while the rocker switches are used for direction control and emergency stop functionality.

Component List

1. Arduino UNO

   • Description: Microcontroller board based on the ATmega328P.
   • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

2. DC Motor

   • Description: Standard DC motor.
   • Pins: pin 1, pin 2

3. L298N DC Motor Driver

   • Description: Dual H-Bridge motor driver.
   • Pins: OUT1, OUT2, 12V, GND, 5V, OUT3, OUT4, 5V-ENA-JMP-I, 5V-ENA-JMP-O, +5V-J1, +5V-J2, ENA, IN1, IN2, IN3, IN4, ENB

4. Battery 12V

   • Description: 12V power source.
   • Pins: +, -

5. ESP32-CAM

   • Description: Wi-Fi and Bluetooth module with camera.
   • Pins: 5V, GND, IO12, IO13, IO15, IO14, IO2, IO4, VOT, VOR, VCC, IO0, IO16, 3V3

6. Rocker Switch

   • Description: On/Off switch.
   • Pins: output, input

7. Battery 3.3V

   • Description: 3.3V power source.
   • Pins: +, -

Wiring Details

Arduino UNO

• 5V connected to ESP32-CAM 5V
• GND connected to ESP32-CAM GND, Battery 12V -, Battery 3.3V -
• Vin connected to Battery 12V +
• D13 connected to L298N DC Motor Driver IN1
• D12 connected to L298N DC Motor Driver IN2
• D11 connected to L298N DC Motor Driver IN3
• D10 connected to L298N DC Motor Driver IN4
• D8 connected to Rocker Switch output
• D7 connected to L298N DC Motor Driver IN1
• D6 connected to L298N DC Motor Driver IN2
• D5 connected to L298N DC Motor Driver IN3
• D4 connected to L298N DC Motor Driver IN4
• D2 connected to Rocker Switch output
• D1 connected to ESP32-CAM VOT
• D0 connected to ESP32-CAM VOR

DC Motor

• pin 1 connected to L298N DC Motor Driver OUT4
• pin 2 connected to L298N DC Motor Driver OUT3

L298N DC Motor Driver

• OUT1 connected to DC Motor pin 2
• OUT2 connected to DC Motor pin 1
• 12V connected to Battery 12V +
• GND connected to Battery 12V -
• IN1 connected to Arduino UNO D13
• IN2 connected to Arduino UNO D12
• IN3 connected to Arduino UNO D11
• IN4 connected to Arduino UNO D10

Battery 12V

• + connected to Arduino UNO Vin, L298N DC Motor Driver 12V
• - connected to Arduino UNO GND, L298N DC Motor Driver GND

ESP32-CAM

• 5V connected to Arduino UNO 5V
• GND connected to Arduino UNO GND
• VOT connected to Arduino UNO D1
• VOR connected to Arduino UNO D0

Rocker Switch

• output connected to Arduino UNO D8, Arduino UNO D2
• input connected to Battery 3.3V +

Battery 3.3V

• + connected to Rocker Switch input
• - connected to Arduino UNO GND

Code Documentation

// Motor driver 1 pins
const int IN1_1 = 13;
const int IN2_1 = 12;
const int IN3_1 = 11;
const int IN4_1 = 10;

// Motor driver 2 pins
const int IN1_2 = 7;
const int IN2_2 = 6;
const int IN3_2 = 5;
const int IN4_2 = 4;

// ESP32-CAM pins
const int VOR = 0;
const int VOT = 1;

// Rocker switch pins
const int DIRECTION_SWITCH = 2;
const int EMERGENCY_STOP_SWITCH = 8;

void setup() {
  // Initialize motor driver 1 pins
  pinMode(IN1_1, OUTPUT);
  pinMode(IN2_1, OUTPUT);
  pinMode(IN3_1, OUTPUT);
  pinMode(IN4_1, OUTPUT);

  // Initialize motor driver 2 pins
  pinMode(IN1_2, OUTPUT);
  pinMode(IN2_2, OUTPUT);
  pinMode(IN3_2, OUTPUT);
  pinMode(IN4_2, OUTPUT);

  // Initialize ESP32-CAM pins
  pinMode(VOR, INPUT);
  pinMode(VOT, OUTPUT);

  // Initialize rocker switch pins
  pinMode(DIRECTION_SWITCH, INPUT);
  pinMode(EMERGENCY_STOP_SWITCH, INPUT);

  // Initial motor states
  stopMotors();
}

void loop() {
  // Read switch states
  int directionSwitchState = digitalRead(DIRECTION_SWITCH);
  int emergencyStopSwitchState = digitalRead(EMERGENCY_STOP_SWITCH);

  // Control motors based on switch states
  if (emergencyStopSwitchState == HIGH) {
    // Emergency stop: Stop all motors
    stopMotors();
  } else {
    if (directionSwitchState == HIGH) {
      // Move motors forward
      moveForward();
    } else {
      // Move motors backward
      moveBackward();
    }
  }

  delay(100); // Small delay for switch debounce
}

void stopMotors() {
  // Stop motor driver 1
  digitalWrite(IN1_1, LOW);
  digitalWrite(IN2_1, LOW);
  digitalWrite(IN3_1, LOW);
  digitalWrite(IN4_1, LOW);

  // Stop motor driver 2
  digitalWrite(IN1_2, LOW);
  digitalWrite(IN2_2, LOW);
  digitalWrite(IN3_2, LOW);
  digitalWrite(IN4_2, LOW);
}

void moveForward() {
  // Motor driver 1: Forward
  digitalWrite(IN1_1, HIGH);
  digitalWrite(IN2_1, LOW);
  digitalWrite(IN3_1, HIGH);
  digitalWrite(IN4_1, LOW);

  // Motor driver 2: Forward
  digitalWrite(IN1_2, HIGH);
  digitalWrite(IN2_2, LOW);
  digitalWrite(IN3_2, HIGH);
  digitalWrite(IN4_2, LOW);
}

void moveBackward() {
  // Motor driver 1: Backward
  digitalWrite(IN1_1, LOW);
  digitalWrite(IN2_1, HIGH);
  digitalWrite(IN3_1, LOW);
  digitalWrite(IN4_1, HIGH);

  // Motor driver 2: Backward
  digitalWrite(IN1_2, LOW);
  digitalWrite(IN2_2, HIGH);
  digitalWrite(IN3_2, LOW);
  digitalWrite(IN4_2, HIGH);
}

This code initializes the pins for the motor drivers, ESP32-CAM, and rocker switches. It reads the states of the rocker switches to control the direction of the motors and to handle emergency stops. The stopMotors, moveForward, and moveBackward functions control the motor states accordingly.