Circuit Documentation

Summary

The circuit in question appears to be designed for a quadcopter or similar multirotor UAV (Unmanned Aerial Vehicle). It includes four brushless motors, each controlled by an individual Electronic Speed Controller (ESC). The power distribution is managed by a PDB XT60, which distributes power from a Lipo Battery to the ESCs. The circuit also includes an MPU-6050 sensor for motion tracking, an ESP32 microcontroller for general control, and an ESP32-CAM module for capturing images or video.

Component List

Brushless Motor

• Description: A type of motor that is commonly used in drones for its high power-to-weight ratio and efficiency.
• Pins: L1, L2, L3

Electronic Speed Controller (ESC)

• Description: An electronic circuit that controls the speed of an electric motor. It also provides a 5V output that can be used to power other components.
• Pins: Battery VCC, Battery GND, Signal, 5v out, GND out, M1, M2, M3

MPU-6050

• Description: A motion tracking device that contains a 3-axis gyroscope and a 3-axis accelerometer.
• Pins: VCC, GND, SCL, SDA, XDA, XCL, AD0, INT

PDB XT60

• Description: A power distribution board that simplifies the wiring of power and ground to multiple components.
• Pins: +, -, GND, VCC, 5V, 12V

Lipo Battery

• Description: A rechargeable battery of lithium-ion technology used for high energy storage.
• Pins: VCC, GND

ESP32 38 PINS

• Description: A microcontroller with Wi-Fi and Bluetooth capabilities, suitable for a variety of applications including drone control.
• Pins: GND, G23, G22, TXD, RXD, G21, G19, G18, G5, G17, G16, G4, G0, G2, G15, SDI, SD0, CLK, 3V3, EN, SP, SN, G34, G35, G32, 33, G25, G26, G27, G14, G12, G13, SD2, SD3, 5V

ESP32 - CAM

• Description: A small-sized camera module that can be used for surveillance or capturing images from a UAV.
• Pins: 5V, GND, IO12, IO13, IO15, IO14, IO2, IO4, VOT, VOR, VCC, IO0, IO16, 3V3

Wiring Details

Brushless Motors

• Motor 1
  • L1, L2, L3 connected to ESC M1, M2, M3 respectively.
• Motor 2
  • L1, L2, L3 connected to ESC M1, M2, M3 respectively.
• Motor 3
  • L1, L2, L3 connected to ESC M1, M2, M3 respectively.
• Motor 4
  • L1, L2, L3 connected to ESC M1, M2, M3 respectively.

Electronic Speed Controllers (ESCs)

• All ESCs have their Battery VCC and Battery GND connected to the PDB XT60's + and - respectively.
• ESC Signal pins are connected to the ESP32 pins G21, G23, G18, and G19 for motor control.

MPU-6050

• VCC connected to ESP32 3V3.
• GND connected to ESP32 GND.
• SCL connected to ESP32 G2.
• SDA connected to ESP32 G21.

PDB XT60

• • and - distribute power to all ESCs.
• VCC and GND are not detailed in the net list.

Lipo Battery

• VCC and GND connected to PDB XT60 + and - respectively.

ESP32 38 PINS

• GND connected to GND out on all ESCs.
• G21, G23, G18, G19 connected to Signal on ESCs for motor control.
• 3V3 connected to MPU-6050 VCC.

ESP32 - CAM

• 5V connected to ESP32 3V3.
• GND connected to ESP32 GND.

Documented Code

ESP32 38 PINS (Main Controller)

/*
 * Development of Drone Surveillance Technology Using ESP32
 * This code interfaces with an ESP32, MPU-6050, HC-SR04, GPS NEO 6M, and ESP32-CAM.
 * The ESP32 reads data from the MPU-6050 (IMU), HC-SR04 (Ultrasonic Sensor), and GPS.
 * It also controls the ESCs for the brushless motors and captures images using the ESP32-CAM.
 */

#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <WiFi.h>
#include <ESP32Servo.h>

// Pin Definitions
#define MPU6050_SDA 21
#define MPU6050_SCL 22
#define ULTRASONIC_TRIG 12
#define ULTRASONIC_ECHO 13
#define ESC1_SIGNAL 23
#define ESC2_SIGNAL 19
#define ESC3_SIGNAL 18
#define ESC4_SIGNAL 17

// MPU6050
Adafruit_MPU6050 mpu;

// Ultrasonic Sensor
long duration;
int distance;

// Servo objects for ESCs
Servo esc1;
Servo esc2;
Servo esc3;
Servo esc4;

void setup() {
  Serial.begin(115200);
  Wire.begin(MPU6050_SDA, MPU6050_SCL);

  // Initialize MPU6050
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  // Initialize Ultrasonic Sensor
  pinMode(ULTRASONIC_TRIG, OUTPUT);
  pinMode(ULTRASONIC_ECHO, INPUT);

  // Attach ESCs to pins
  esc1.attach(ESC1_SIGNAL);
  esc2.attach(ESC2_SIGNAL);
  esc3.attach(ESC3_SIGNAL);
  esc4.attach(ESC4_SIGNAL);

  // Initialize WiFi
  WiFi.begin("yourSSID", "yourPASSWORD");
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("Connected to WiFi");
}

void loop() {
  // Read MPU6050 data
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  Serial.print("AccelX: "); Serial.print(a.acceleration.x);
  Serial.print(", AccelY: "); Serial.print(a.acceleration.y);
  Serial.print(", AccelZ: "); Serial.println(a.acceleration.z);

  // Read Ultrasonic Sensor data
  digitalWrite(ULTRASONIC_TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(ULTRASONIC_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(ULTRASONIC_TRIG, LOW);
  duration = pulseIn(ULTRASONIC_ECHO, HIGH);
  distance = duration * 0.034 / 2;
  Serial.print("Distance: "); Serial.print(distance);
  Serial.println(" cm");

  // Control ESCs (example: set to 1000us pulse width)
  esc1.writeMicroseconds(1000);
  esc2.writeMicroseconds(1000);
  esc3.writeMicroseconds(1000);
  esc4.writeMicroseconds(1000);

  delay(1000);
}

ESP32 - CAM (Camera Module)

/*
 * Development of Drone Surveillance Technology Using ESP32-CAM
 * This code interfaces with an ESP32-CAM and an HC-SR04 Ultrasonic Sensor.
 * The ESP32-CAM captures images when motion is detected by the HC-SR04.
 */

#include "esp_camera.h"
#include <WiFi.h>

// Pin Definitions
#define ULTRASONIC_TRIG 12
#define ULTRASONIC_ECHO 13

// Camera configuration
#define PWDN_GPIO_NUM     -1
#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

// WiFi credentials
const char* ssid = "yourSSID";
const char* password =