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ESP32-CAM Wi-Fi Controlled Robotic Car with Camera and Motor Control

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Circuit Documentation

Summary

This circuit is designed to control a Wi-Fi-enabled car using an ESP32-CAM microcontroller. The car is powered by a 3.7V battery and includes multiple DC motors controlled by DRV8833 motor drivers. The ESP32-CAM also streams video over Wi-Fi, allowing for remote control and monitoring. The circuit includes a power regulation module to ensure stable voltage levels and a rocker switch for power control.

Component List

  1. ESP32-CAM

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

  2. 3.7V Battery

    • Description: A rechargeable battery providing power to the circuit.
    • Pins: +, -

  3. DC Motor

    • Description: A motor used for driving the car.
    • Pins: pin 1, pin 2

  4. MP1584EN Power Regulator Board

    • Description: A power regulation module to provide stable voltage.
    • Pins: IN -, IN +, OUT +, OUT -

  5. Drv8833 Motor Driver

    • Description: A motor driver for controlling the DC motors.
    • Pins: EEP, OUT1, OUT2, OUT3, OUT4, ULT, IN4, IN3, GND, VCC, IN1, IN2

  6. Rocker Switch

    • Description: A switch to control the power supply.
    • Pins: output, input

  7. Electrolytic Capacitor (100 Farads)

    • Description: A capacitor for smoothing voltage fluctuations.
    • Pins: -, +

  8. Electrolytic Capacitor (0.1 Farads)

    • Description: A capacitor for smoothing voltage fluctuations.
    • Pins: -, +

  9. Resistor (330 Ohms)

    • Description: A resistor for current limiting.
    • Pins: pin1, pin2

Wiring Details

ESP32-CAM

3.7V Battery

DC Motor 1

DC Motor 2

DC Motor 3

MP1584EN Power Regulator Board

Drv8833 Motor Driver 1

Drv8833 Motor Driver 2

Rocker Switch

Electrolytic Capacitor (100 Farads)

Electrolytic Capacitor (0.1 Farads)

Resistor (330 Ohms)

Documented Code

ESP32-CAM Code

#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>

struct MOTOR_PINS
{
  int pinEn;  
  int pinIN1;
  int pinIN2;    
};

std::vector<MOTOR_PINS> motorPins = 
{
  {12, 13, 15},  //RIGHT_MOTOR Pins (EnA, IN1, IN2)
  {12, 14, 2},  //LEFT_MOTOR  Pins (EnB, IN3, IN4)
};
#define LIGHT_PIN 4

#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define STOP 0

#define RIGHT_MOTOR 0
#define LEFT_MOTOR 1

#define FORWARD 1
#define BACKWARD -1

const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8;
const int PWMSpeedChannel = 2;
const int PWMLightChannel = 3;

//Camera related constants
#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

const char* ssid     = "MyWiFiCar";
const char* password = "12345678";

AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsCarInput("/CarInput");
uint32_t cameraClientId = 0;

const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE