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Wi-Fi Controlled ESP32-CAM Robotic Car with L298N Motor Driver

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Circuit Documentation

Summary

This circuit is designed to control a car with motors using an ESP32-CAM microcontroller. The ESP32-CAM is connected to a motor driver (L298N) which controls four motors with reducers. The circuit also includes a rocker switch and two 3.7V batteries to power the components. The ESP32-CAM is programmed to provide a web interface for controlling the car's movement and capturing images.

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. ESP32-CAM

    • Description: Microcontroller with camera module, used for controlling the car and capturing images.
    • Pins: 5V, GND, IO12, IO13, IO15, IO14, IO2, IO4, VOT, VOR, VCC, IO0, IO16, 3V3

  3. Motor with Reducer

    • Description: DC motor with a gear reducer.
    • Pins: 3 - 6 VCC, GND

  4. 3.7V Battery

    • Description: Power source for the circuit.
    • Pins: +, -

  5. Rocker Switch

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

  6. ESP32-CAM MB FLIP

    • Description: Development board for ESP32-CAM.
    • Pins: 3.3V, IO16, IO0, GND, VCC, IO3RX, IO1TX, 5V, IO12, IO13, IO15, IO14, IO2, IO4

Wiring Details

L298N DC Motor Driver

ESP32-CAM

Motor with Reducer

Another Motor with Reducer

3.7V Battery

Another 3.7V Battery

Rocker Switch

ESP32-CAM MB FLIP

Code Documentation

sketch.ino

#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 html>
<html>
  <head>
  <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
    <style>
    .arrows {
      font-size:40px;
      color:red;
    }
    td.button {
      background-color:black;
      border-radius:25%;
      box-shadow: 5px 5px #888888;
    }
    td.button:active {
      transform: translate(5px,5px);
      box-shadow: none; 
    }

    .noselect {
      -webkit-touch-callout: none; /* iOS Safari */
        -webkit-user-select: none; /* Safari */
         -khtml-user-select