Circuit Documentation
Summary
This circuit is designed to control two DC motors using an ESP32-CAM microcontroller and an L293D motor driver. The circuit is powered by a LiPoly battery and includes a 18650 Lithium Ion Charger for battery management. The ESP32-CAM also includes a camera module for capturing images and streaming video over WiFi.
Component List
ESP32-CAM
- Description: A microcontroller with an integrated camera module.
- Pins: 5V, GND, IO12, IO13, IO15, IO14, IO2, IO4, VOT, VOR, VCC, IO0, IO16, 3V3
DC Motor (Motor 1)
- Description: A DC motor for mechanical movement.
- Pins: pin 1, pin 2
DC Motor (Motor 2)
- Description: A second DC motor for mechanical movement.
- Pins: pin 1, pin 2
L293D
- Description: A motor driver IC used to control the DC motors.
- Pins: Enable 1,2, Input 1, Output 1, GND, Output 2, Input 2, Vcc2, Vcc1, Input 4, Output 4, Output 3, Input 3, Enable 3,4
LiPoly Battery (1300mAh)
- Description: A rechargeable lithium polymer battery.
- Pins: positive, negative
18650 Lithium Ion Charger
- Description: A charger module for 18650 lithium-ion batteries.
- Pins: V IN, GND, OUT, IN, BAT IN, BAT GND
Wiring Details
ESP32-CAM
- 5V: Connected to OUT of 18650 Lithium Ion Charger
- GND: Connected to GND of 18650 Lithium Ion Charger and IN of 18650 Lithium Ion Charger
- IO13: Connected to Input 3 of L293D
- IO15: Connected to Input 4 of L293D
- IO14: Connected to Input 2 of L293D
- IO2: Connected to Input 1 of L293D
- VCC: Connected to Enable 1,2, Enable 3,4, and Vcc1 of L293D
DC Motor (Motor 1)
- pin 1: Connected to Output 4 of L293D
- pin 2: Connected to Output 3 of L293D
DC Motor (Motor 2)
- pin 1: Connected to Output 2 of L293D
- pin 2: Connected to Output 1 of L293D
L293D
- GND: Connected to OUT of 18650 Lithium Ion Charger
- Input 1: Connected to IO2 of ESP32-CAM
- Input 2: Connected to IO14 of ESP32-CAM
- Input 3: Connected to IO13 of ESP32-CAM
- Input 4: Connected to IO15 of ESP32-CAM
- Enable 1,2: Connected to VCC of ESP32-CAM
- Enable 3,4: Connected to VCC of ESP32-CAM
- Vcc1: Connected to VCC of ESP32-CAM
- Vcc2: Connected to BAT IN of 18650 Lithium Ion Charger
LiPoly Battery (1300mAh)
- positive: Connected to BAT IN of 18650 Lithium Ion Charger
- negative: Connected to BAT GND of 18650 Lithium Ion Charger
18650 Lithium Ion Charger
- OUT: Connected to 5V of ESP32-CAM and GND of L293D
- IN: Connected to GND of ESP32-CAM
- BAT IN: Connected to positive of LiPoly Battery
- BAT GND: Connected to negative of LiPoly Battery
Documented Code
#include "esp_camera.h"
#include <WiFi.h>
// WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
// or another board which has PSRAM enabled
// Adafruit ESP32 Feather
// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
#define CAMERA_MODEL_AI_THINKER
const char* ssid = "--------"; //Enter SSID WIFI Name
const char* password = "--------"; //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() {
Serial.begin(115200);
Serial.setDebugOutput(true);
Serial.println();
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);
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_UXGA;
config.jpeg_quality = 10;
config.fb_count = 2;
} else {
config.frame_size = FRAMESIZE_SVGA;
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_CIF);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected");
startCameraServer();
Serial.print("Camera Ready! Use