Circuit Documentation

Summary

This document provides a detailed overview of a circuit designed to control a robotic vehicle. The circuit includes an ESP32 microcontroller, motor drivers, DC motors, an ultrasonic sensor, a servo motor, a power supply, and a rocker switch. The ESP32 microcontroller is programmed to handle various tasks such as motor control, ultrasonic sensing, and communication.

Component List

1. L298N DC Motor Driver

   • Description: Motor driver used to control the speed and direction of DC motors.
   • 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

2. Gearmotor DC Wheels Left

   • Description: DC motor used for the left wheels of the robotic vehicle.
   • Pins: PIN1, PIN2

3. Gearmotor DC Wheels Right

   • Description: DC motor used for the right wheels of the robotic vehicle.
   • Pins: PIN1, PIN2

4. ESP32 (30 pin)

   • Description: Microcontroller used for controlling the robotic vehicle.
   • Pins: EN, VP, VN, D34, D35, D32, D33, D25, D26, D27, D14, D12, D13, GND, Vin, D23, D22, TX0, RX0, D21, D19, D18, D5, TX2, RX2, D4, D2, D15, 3V3

5. HC-SR04 Ultrasonic Sensor

   • Description: Sensor used for distance measurement.
   • Pins: VCC, TRIG, ECHO, GND

6. 2x 18650

   • Description: Battery pack used to power the circuit.
   • Pins: vcc, gnd

7. MB102 Breadboard Power Supply Module 3.3V/5V

   • Description: Power supply module used to provide 3.3V and 5V to the circuit.
   • Pins: VCC, GND, 3.3V, 5V

8. Power Jack

   • Description: Connector for external power supply.
   • Pins: POSITIF, NEGATIF

9. Servo

   • Description: Servo motor used for precise control of angular position.
   • Pins: GND, VCC, PWM

10. Rocker Switch

    • Description: Switch used to control the power supply to the circuit.
    • Pins: 1, 2

Wiring Details

L298N DC Motor Driver

• IN1 connected to ESP32 D26
• IN2 connected to ESP32 D25
• IN3 connected to ESP32 D33
• IN4 connected to ESP32 D32
• OUT1 connected to Gearmotor DC Wheels Left PIN1 and Gearmotor DC Wheels Right PIN2
• OUT2 connected to Gearmotor DC Wheels Left PIN2 and Gearmotor DC Wheels Right PIN1
• OUT3 connected to Gearmotor DC Wheels Left PIN1 and Gearmotor DC Wheels Right PIN1
• OUT4 connected to Gearmotor DC Wheels Left PIN2 and Gearmotor DC Wheels Right PIN2
• 12V connected to 2x 18650 vcc and Power Jack POSITIF
• GND connected to Rocker Switch 2 and Power Jack NEGATIF

Gearmotor DC Wheels Left

• PIN1 connected to L298N DC Motor Driver OUT1 and L298N DC Motor Driver OUT3
• PIN2 connected to L298N DC Motor Driver OUT2 and L298N DC Motor Driver OUT4

Gearmotor DC Wheels Right

• PIN1 connected to L298N DC Motor Driver OUT2 and L298N DC Motor Driver OUT3
• PIN2 connected to L298N DC Motor Driver OUT1 and L298N DC Motor Driver OUT4

ESP32 (30 pin)

• D26 connected to L298N DC Motor Driver IN1
• D25 connected to L298N DC Motor Driver IN2
• D33 connected to L298N DC Motor Driver IN3
• D32 connected to L298N DC Motor Driver IN4
• D14 connected to Servo PWM
• D12 connected to HC-SR04 Ultrasonic Sensor TRIG
• D13 connected to HC-SR04 Ultrasonic Sensor ECHO
• GND connected to HC-SR04 Ultrasonic Sensor GND and Servo GND
• Vin connected to HC-SR04 Ultrasonic Sensor VCC and Servo VCC

HC-SR04 Ultrasonic Sensor

• TRIG connected to ESP32 D12
• ECHO connected to ESP32 D13
• GND connected to ESP32 GND
• VCC connected to ESP32 Vin

2x 18650

• vcc connected to L298N DC Motor Driver 12V and Power Jack POSITIF
• gnd connected to Rocker Switch 1

MB102 Breadboard Power Supply Module 3.3V/5V

• VCC not connected
• GND not connected
• 3.3V not connected
• 5V not connected

Power Jack

• POSITIF connected to 2x 18650 vcc and L298N DC Motor Driver 12V
• NEGATIF connected to L298N DC Motor Driver GND and Rocker Switch 2

Servo

• GND connected to ESP32 GND
• VCC connected to ESP32 Vin
• PWM connected to ESP32 D14

Rocker Switch

• 1 connected to 2x 18650 gnd
• 2 connected to L298N DC Motor Driver GND and Power Jack NEGATIF

Code Documentation

ESP32 Code (sketch.ino)

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:

}

ESP32 Code Documentation (documentation.txt)

# VAIO Code logic

## Setup
- Motor Wheels Setup task
- Ultrasonic Setup task (For automatic)
- Bluetooth Setup task (for DS4)
- ESP Now Setup (For hand gesture & Voice Recognition)

## Operational
- Master Controller Task (Handles the state of communication) (Priority 2)
- Voice Recognition Task (Probably uses Interrupt i.e has the highest priority) (Priority 1)
- Automatic Task (uses ultrasonic) (Priority 3)
- DS4 Task (uses bluetooth) (Priority 3)
- Hand Gesture Task (uses ESP-NOW) (Priority 3)

### Voice Recognition Task (Called when interrupted by the voice module from the hand gesture ESP32)
- ESP-NOW communication has to be always active for voice communication

### Master Controller Task (Called everytime by Voice Recognition Task)
- This task will be execute by Voice Recognition Task
- Implement enums for the state
- Calls either the Automatic Task, DS4 Task, or Hand Gesture Task depending on the state

### Automatic Task (Task is looping)
- This task will be execute by Master Controller Task

### DS4 Task (Task is looping)
- This task will be execute by Master Controller Task

### Hand Gesture Task (Task is looping)
- This task will be execute by Master Controller Task

## Some logic ideas
ESP32 has 2 cores. Core 1 execute Master Controller Task. Core 2 execute Voice Recognition Task

Voice Recognition Task in Core 2 will always be ready to listen for ESP-NOW communication for the voice command. If communication has been heard, 
it will process the command and interrupt task in Core 1 by calling the Master Controller Task to change the state of the controls.

Note : Keep in mind of accidentally resetting the watchdog timer