Circuit Documentation

Summary

This document provides a detailed overview of a circuit that integrates various sensors, actuators, and a Wi-Fi module with an Arduino Uno R3 microcontroller. The circuit is designed to control a rover with functionalities such as motion detection, distance measurement, and camera panning. The rover can be controlled via a web interface hosted on the ESP8266 Wi-Fi module.

Component List

1. Arduino Uno R3

   • Description: A microcontroller board based on the ATmega328P.
   • Pins: D8, D9, D10, D11, D12, D13, GND, AREF, SDA, SCL, D0/RX, D1/Tx, D2, D3, D4, D5, 6, D7, A5/SCL, A4/SDA, A3, A2, A1, A0, Vin, 5V, 3.3V, RESET, IOREF, NONE, USB Jack, Power Jack

2. HC-SR04 Ultrasonic Sensor

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

3. PIR Sensor

   • Description: A sensor used for motion detection.
   • Pins: VDD, SIG, GND

4. Micro Servo 9G

   • Description: A small servo motor used for camera panning.
   • Pins: GND, +5V, PWM

5. L298N DC Motor Driver

   • Description: A dual H-Bridge motor driver used to control the motors of the rover.
   • 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

6. Wi-Fi Module ESP8266-01

   • Description: A Wi-Fi module used to connect the rover to a wireless network.
   • Pins: RX, GPIO0, GPIO2, GND, +3V3, Reset, CH-PD Chip power down, TX

7. OV7670 Camera Module

   • Description: A camera module used for capturing images.
   • Pins: RET, PWDN, D1, D0, D3, D2, D4, D5, D6, PLK, XLK, D7, VS, HS, SCL, SDA, 3.3V, DGND

8. 4 x AAA Battery Mount

   • Description: A battery holder for powering the circuit.
   • Pins: -, +

Wiring Details

Arduino Uno R3

• 5V connected to:

  • HC-SR04 Ultrasonic Sensor (VCC)
  • PIR Sensor (VDD)
  • Micro Servo 9G (+5V)

• GND connected to:

  • HC-SR04 Ultrasonic Sensor (GND)
  • PIR Sensor (GND)
  • Micro Servo 9G (GND)
  • Wi-Fi Module ESP8266-01 (GND)
  • 4 x AAA Battery Mount (-)

• D8 connected to:

  • HC-SR04 Ultrasonic Sensor (ECHO)

• D9 connected to:

  • PIR Sensor (SIG)

• D10 connected to:

  • Micro Servo 9G (PWM)

• D11 connected to:

  • Wi-Fi Module ESP8266-01 (TX)

• D2 connected to:

  • L298N DC Motor Driver (IN1)

• D3 connected to:

  • L298N DC Motor Driver (IN2)

• D4 connected to:

  • L298N DC Motor Driver (IN3)

• D5 connected to:

  • L298N DC Motor Driver (IN4)

• 6 connected to:

  • Wi-Fi Module ESP8266-01 (RX)

• D7 connected to:

  • HC-SR04 Ultrasonic Sensor (TRIG)

• A5/SCL connected to:

  • OV7670 Camera Module (SCL)

• A4/SDA connected to:

  • OV7670 Camera Module (SDA)

• Vin connected to:

  • 4 x AAA Battery Mount (+)

• 3.3V connected to:

  • Wi-Fi Module ESP8266-01 (CH-PD Chip power down)

HC-SR04 Ultrasonic Sensor

• VCC connected to:

  • Arduino Uno R3 (5V)

• GND connected to:

  • Arduino Uno R3 (GND)

• ECHO connected to:

  • Arduino Uno R3 (D8)

• TRIG connected to:

  • Arduino Uno R3 (D7)

PIR Sensor

• VDD connected to:

  • Arduino Uno R3 (5V)

• SIG connected to:

  • Arduino Uno R3 (D9)

• GND connected to:

  • Arduino Uno R3 (GND)

Micro Servo 9G

• GND connected to:

  • Arduino Uno R3 (GND)

• +5V connected to:

  • Arduino Uno R3 (5V)

• PWM connected to:

  • Arduino Uno R3 (D10)

L298N DC Motor Driver

• IN1 connected to:

  • Arduino Uno R3 (D2)

• IN2 connected to:

  • Arduino Uno R3 (D3)

• IN3 connected to:

  • Arduino Uno R3 (D4)

• IN4 connected to:

  • Arduino Uno R3 (D5)

Wi-Fi Module ESP8266-01

• TX connected to:

  • Arduino Uno R3 (D11)

• RX connected to:

  • Arduino Uno R3 (6)

• GND connected to:

  • Arduino Uno R3 (GND)

• CH-PD Chip power down connected to:

  • Arduino Uno R3 (3.3V)

OV7670 Camera Module

• SCL connected to:

  • Arduino Uno R3 (A5/SCL)

• SDA connected to:

  • Arduino Uno R3 (A4/SDA)

4 x AAA Battery Mount

• + connected to:

  • Arduino Uno R3 (Vin)

• - connected to:

  • Arduino Uno R3 (GND)

Documented Code

#include <ESP8266WiFi.h>
#include <Servo.h>

// Define Wi-Fi credentials
const char* ssid = "YourWiFiSSID";
const char* password = "YourWiFiPassword";

// Define pin connections
const int motorA1 = D2;
const int motorA2 = D3;
const int motorB1 = D4;
const int motorB2 = D5;
const int servoPin = D10;  // Servo motor for camera panning
const int trigPin = D7;    // HC-SR04 Trigger Pin
const int echoPin = D8;    // HC-SR04 Echo Pin
const int pirPin = D9;     // PIR sensor Pin

Servo cameraServo;  // Create Servo object

WiFiServer server(80);  // HTTP server on port 80

void setup() {
  // Start serial communication for debugging
  Serial.begin(115200);

  // Initialize the motor control pins
  pinMode(motorA1, OUTPUT);
  pinMode(motorA2, OUTPUT);
  pinMode(motorB1, OUTPUT);
  pinMode(motorB2, OUTPUT);

  // Initialize the servo motor for camera panning
  cameraServo.attach(servoPin);
  cameraServo.write(90);  // Set initial position to middle (90 degrees)

  // Initialize the HC-SR04 ultrasonic sensor
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // Initialize PIR sensor
  pinMode(pirPin, INPUT);

  // Connect to Wi-Fi
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi...");
  }
  Serial.println("WiFi connected!");

  // Start the server
  server.begin();
  Serial.println("Server started");
}

void loop() {
  // Check for incoming clients (Web browser connection)
  WiFiClient client = server.available();
  if (client) {
    String request = client.readStringUntil('\r');
    client.flush();

    // Print out the received request (for debugging)
    Serial.println(request);

    // Control the rover based on the HTTP request
    if (request.indexOf("/forward") != -1) {
      moveForward();
    }
    else if (request.indexOf("/backward") != -1) {
      moveBackward();
    }
    else if (request.indexOf("/left") != -1) {
      moveLeft();
    }
    else if (request.indexOf("/