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https://github.com/aasmundn/robot-car
ESP32 code template and library for NTNU start week, fall 2023.
https://github.com/aasmundn/robot-car
arduino esp32 ntnu zumo32u4
Last synced: 20 days ago
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ESP32 code template and library for NTNU start week, fall 2023.
- Host: GitHub
- URL: https://github.com/aasmundn/robot-car
- Owner: AasmundN
- Created: 2023-08-13T12:01:31.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-08-21T13:05:02.000Z (over 1 year ago)
- Last Synced: 2023-10-19T21:11:06.929Z (about 1 year ago)
- Topics: arduino, esp32, ntnu, zumo32u4
- Language: HTML
- Homepage:
- Size: 592 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
## Installation
### ESP32 setup
In the _Arduino IDE_ choose the _ESP32 Dev Module_ board. Paste the [carLibrary](carLibrary/) directory into your arduino library folder. Then install the following libraries and their dependencies via the library manager in the IDE.
- AsyncTCP
Lastly install the [ESPAsyncWebServer](https://github.com/me-no-dev/ESPAsyncWebServer#installation) library as a _.ZIP_ file from github and include it in the IDE.
### Zumo34U4 setup
Select _Arduino Leonardo_ as the board and download the following library and its dependencies using the library manager.
- Zumo32U4
## Features
### Setup
The `carLibrary` exposes a class named `Car`. Its constructor accepts a network name and password.
```cpp
Car car("networkName", "networkPassword");
```
In the program setup call the member function `initCar`.
```cpp
void setup() {
car.initCar();
}
```
### Buttons and driving
The `carLibrary` exposes nine void functions named `w`, `a`, `s`, `d`. `e`, `q`, `triangle`, `circle` and `square`. These are called when the corresponding buttons on the control panel are pressed, and released. They all accept a parameter `bool button` indicating whether the button is pressed down or released. The defined helpers `UP` and `DOWN` can be used to check the button direction.
```cpp
void w(bool button) {
if (button == UP) {
// button is released
} else if (button == DOWN) {
// button is pressed
}
}
```
To drive the car use the member function `drive`. This takes two arguments representing the speed of the left and right belt. These arguments are integers ranging from `-100` to `100`.
```cpp
// drive forward max speed
car.drive(100,100);
// stop car
car.drive(0,0);
// sharp turn left at half speed
car.drive(-50, 50);
```
> Driving with low speeds can be harmful to the motors. A `MOTOR_LOWER_LIMIT` has therefor been placed at _30_. Trying to drive with speeds under this limit will result in the car stopping.
### Sensor data
Sensor data can be fetched through the `data` array on the _Car_ class. Each data point contains a `value` and `flag`. All data values are integers and are updated roughly **20 times per second**. Whenever a data value is updated the data flag is set to true.
```cpp
// reading data continously
int proxData = car.data[PROXIMITY].value;
// read data when it is available
if (car.data[PROXIMITY].flag) {
int proxData = car.data[PROXIMITY].value;
car.data[PROXIMITY].flag = false;
}
```
The available data can be fetched using the defined helpers.
| Data | Range | Details |
|----- | :-----: | ----- |
| PROXIMITY | 0 → 12 | The closer the object the higher the value. |
| LINE | -100 → 100 | When the line is to the right of the car the number is positive. |
| ENCODERS | **n/a** | Encoder counts 12 times per motor rotation. |
| READ_TIME | **n/a** | Time corresponding to one encoder reading in _ms_. |
| GYRO | -180 → 180 | Car angle along the _z_ axis. |
> **_Motor rotations:_** Because of the 75:1 gear ratio in the motor every 75th motor rotation corresponds to one rotation of the wheel.
**Calibrating**
- To calibrate the gyroscope use the member function `calibrateGyro`. This accepts an unsigned integer indicating the precision of the calibration. This value may typically be in the range of _1024_ to _4096_, although a higher number leads to better precision. **The car must be completely still when calibrating**. The buzzer will sound when calibration is done.
```cpp
// calibrate gyro with 2048 as precision
car.calibrateGyro(2048);
```
- To calibrate the line sensors use the member function `calibrateLine`. This accepts a helper `BLACK` or `WHITE` indicating whether the car should read a dark line on a light background or the opposite. **The car must be placed on a line when calibrating**. The buzzer will sound when calibration is done.
```cpp
// follow dark line
car.calibrateLine(BLACK);
```
### Graphing data
The control panel can graph three seperate data streams. The member function `sendData` accepts two arguments; an int specifying the graph and the data to send.
```cpp
// send gyroscope data to graph 1
car.sendData(1, car.data[GYRO].value);
// send variable speed to graph 3
car.sendData(3, speed);
```
To send continous data call the function in the program loop. The function will update the graph data roughly **10 times per second**.