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https://github.com/lily-osp/esp-robot-control
This project allows you to control a robotic system using an ESP8266 or ESP32 via a web-based interface. It supports motor control, obstacle avoidance, and a robotic arm with preprogrammed movements.
https://github.com/lily-osp/esp-robot-control
arduino esp32 esp8266 robotics webcontrol
Last synced: about 14 hours ago
JSON representation
This project allows you to control a robotic system using an ESP8266 or ESP32 via a web-based interface. It supports motor control, obstacle avoidance, and a robotic arm with preprogrammed movements.
- Host: GitHub
- URL: https://github.com/lily-osp/esp-robot-control
- Owner: lily-osp
- License: mit
- Created: 2024-11-13T14:26:21.000Z (6 days ago)
- Default Branch: master
- Last Pushed: 2024-11-17T17:47:26.000Z (2 days ago)
- Last Synced: 2024-11-19T09:17:34.253Z (about 14 hours ago)
- Topics: arduino, esp32, esp8266, robotics, webcontrol
- Language: C++
- Homepage:
- Size: 414 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: Readme.md
- License: LICENSE
Awesome Lists containing this project
README
# Robot Control with Web Interface
This project enables control of a robot with obstacle avoidance and a robot arm through a web interface using an ESP8266/esp32. The controller connects to Wi-Fi and accepts HTTP commands to manage the motor, robot arm, and sensors.
## Features
### Main
- **Wi-Fi Control**: Control the robot over a Wi-Fi network using a web interface.
- **Obstacle Avoidance**: Uses ultrasonic sensor data to automatically avoid obstacles.
- **Robot Arm Control**: Manage various robotic arm movements, including a gripper, base rotation, and joint movements.
- **Configurable Speed**: Set motor speed through the web interface.
- **Position Management**: Save and execute robot arm positions, along with predefined actions like scanning, picking, and waving.
- **Motor Control**: Forward, backward, turn, and stop commands.
- **mDNS Support**: Access the device using a hostname (e.g., `http://serbot.local`).
### Parts
#### Body Control
- **Directional Movement**
- Forward/Backward movement
- Left/Right turns
- Rotate left/right
- Emergency stop
- **Speed Control**
- Adjustable speed via slider (0-255)
- **Obstacle Avoidance**
- Enable/Disable obstacle avoidance
- Autonomous navigation mode
#### Arm Control
- **Joint Control**
- Base rotation (left/right)
- Shoulder movement (up/down)
- Elbow movement (up/down)
- Gripper control (open/close)
- **Pre-defined Movements**
- Home position
- Scan position
- Pick object
- Drop object
- Wave gesture
- **Position Memory**
- Save up to 3 custom positions
- Load saved positions
- **Command Recording**
- Record movement sequences
- Play recorded sequences
- Clear recordings
## Hardware Requirements
- **ESP8266 (NodeMCU or similar)** or **ESP32**
- **Motor Driver (L298N recommended)**
- **Ultrasonic Sensor (HC-SR04)**
- **Servos (for robot arm joints and gripper)**
- **Power Supply (suitable for motors and servos)**
## Pin Configuration
The table below lists the GPIO configurations for ESP8266 and ESP32. The board selector in the code (`bool isESP32`) should be set to `true` for ESP32 and `false` for ESP8266.
### Motor Controller Pins
| Component | ESP8266 GPIO | ESP8266 Alias | ESP32 GPIO | ESP32 Alias | Description |
|-----------------------|--------------|---------------|------------|-------------|---------------------------------------|
| Motor 1 IN1 | GPIO5 | D1 | GPIO25 | IO25 | Motor 1 Direction Control Pin 1 |
| Motor 1 IN2 | GPIO4 | D2 | GPIO26 | IO26 | Motor 1 Direction Control Pin 2 |
| Motor 2 IN1 | GPIO0 | D3 | GPIO27 | IO27 | Motor 2 Direction Control Pin 1 |
| Motor 2 IN2 | GPIO2 | D4 | GPIO14 | IO14 | Motor 2 Direction Control Pin 2 |
| Motor 1 Enable (ENA) | GPIO14 | D5 | GPIO12 | IO12 | PWM pin for Motor 1 speed control |
| Motor 2 Enable (ENB) | GPIO12 | D6 | GPIO13 | IO13 | PWM pin for Motor 2 speed control |
### Ultrasonic Sensor Pins
| Component | ESP8266 GPIO | ESP8266 Alias | ESP32 GPIO | ESP32 Alias | Description |
|-----------------------|--------------|---------------|------------|-------------|---------------------------------------|
| Trigger Pin | GPIO13 | D7 | GPIO32 | IO32 | Trigger for distance measurement |
| Echo Pin | GPIO15 | D8 | GPIO33 | IO33 | Echo to receive distance |
### Robot Arm Pins
| Component | ESP8266 GPIO | ESP8266 Alias | ESP32 GPIO | ESP32 Alias | Description |
|-----------------------|--------------|---------------|------------|-------------|---------------------------------------|
| Base Servo | GPIO16 | D0 | GPIO17 | IO17 | Base rotation control |
| Shoulder Servo | GPIO3 (RX) | RX | GPIO18 | IO18 | Shoulder joint control |
| Elbow Servo | GPIO1 (TX) | TX | GPIO19 | IO19 | Elbow joint control |
| Gripper Servo | GPIO9 | SD2 / S2 | GPIO21 | IO21 | Gripper open/close control |
### Notes:
- **Aliases for ESP8266**: NodeMCU board pins (e.g., D1, D2) map to ESP8266 GPIO pins.
- **Aliases for ESP32**: Use `IO` followed by the GPIO number as a naming convention.
- **Special Pins**: GPIO9 (SD2 on ESP8266) and GPIO10 (SD3) are typically used for flash operations on ESP8266. Use these cautiously.
- **PWM on ESP32**: ESP32 supports multiple PWM channels, improving servo control and motor speed adjustment.
- **UART Pins**: Be aware of RX/TX pins (`GPIO3` and `GPIO1`) if used for debugging or communication.
Ensure proper power supply and grounding to avoid performance issues or damage to the components.
**Additional Notes for ESP32**:
- The ESP32 supports more PWM channels and higher resolution, allowing smoother servo movements.
- Ensure pins for `Trigger` and `Echo` are free from internal pull-ups or pull-downs to avoid conflicts with the ultrasonic sensor.
**Wi-Fi and mDNS**:
- The project includes mDNS support for both ESP8266 and ESP32, allowing access to the web interface using the hostname `http://serbot.local`.
## Code Modifications for Board Selection
- In the source code, ensure the following line is updated based on the board in use:
```cpp
bool isESP32 = true; // Set to true for ESP32, false for ESP8266
```
This boolean configures the correct pin definitions and initializes the appropriate libraries for the selected board.
## Quick Start
1. Connect the hardware as per the pin configuration table.
2. Flash the code to the selected board.
3. Access the web interface via `http://serbot.local` once the device connects to Wi-Fi.
## Troubleshooting
- **Connection Issues**: Ensure Wi-Fi credentials are correctly configured, and the board is within range.
- **Servo Jitters**: Use a stable power supply for motors and servos, especially with ESP32 where higher currents may be drawn.
#### GPIO images
## Software Requirements
- **Arduino IDE** with ESP8266 and ESP32 support.
- **Libraries**:
- `WiFi.h`: For Wi-Fi connectivity (ESP32).
- `ESP8266WiFi.h`: For Wi-Fi connectivity (ESP8266).
- `WebServer.h` (ESP32) or `ESP8266WebServer.h` (ESP8266): For creating the HTTP server.
- `ESPmDNS.h` or `ESP8266mDNS.h`: For mDNS service.
## Hardware Requirements
- **Microcontroller**: ESP8266 or ESP32.
- **Motors and Driver**: L298N or similar motor driver.
- **Ultrasonic Sensor**: HC-SR04 or similar.
- **Servos**: For robotic arm control.
- **Power Supply**: Compatible with the microcontroller and motors/servos.
## Setup Instructions
### 1. Clone Repository
```bash
git clone https://github.com/lily-osp/esp-robot-control.git
cd esp-robot-control
```
### 2. Select Your Board
Set the `isESP32` boolean in the code to match your board:
- `true` for ESP32
- `false` for ESP8266
```cpp
const bool isESP32 = true; // Set to false if using ESP8266
```
### 3. Install Libraries
Ensure the required libraries are installed in the Arduino IDE:
1. Open Arduino IDE.
2. Install **ESP8266** or **ESP32** boards via the Board Manager.
3. Install additional libraries via the Library Manager.
### 4. Configure Wi-Fi
Update the `ssid` and `password` in the code with your Wi-Fi credentials:
```cpp
const char* ssid = "YOUR_WIFI_SSID";
const char* password = "YOUR_WIFI_PASSWORD";
```
### 5. Upload the Code
1. Connect your ESP8266/ESP32 to your computer via USB.
2. Select the appropriate board and port in the Arduino IDE.
3. Upload the code.
### 6. Connect the Hardware
Wire the components to your microcontroller as per the pin definitions in the code.
### 7. Access the Web Interface
1. Open the Serial Monitor to find the assigned IP address.
2. Open a web browser and enter the IP to access the control interface.
## Web Interface and Commands
The web interface provides buttons and controls for the following actions:
- **Movement Commands**: `mv` (move forward), `bk` (move backward), `lt` (turn left), `rt` (turn right), `rl` (rotate left), `rr` (rotate right), `st` (stop).
- **Speed Control**: `spd [value]` - Set the motor speed, where `[value]` is a number between 0-255.
- **Obstacle Avoidance**:
- `oa on`: Enable obstacle avoidance mode.
- `oa off`: Disable obstacle avoidance.
- `oa nav`: Start navigation using obstacle detection.
- **Robot Arm Commands**:
- `b [dir]`: Move base. `dir` can be `f` (forward), `b` (back), `l` (left), or `r` (right).
- `s [dir]`: Move shoulder. `dir` can be `u` (up), `d` (down).
- `e [dir]`: Move elbow. `dir` can be `u` (up), `d` (down).
- `g [dir]`: Move gripper. `dir` can be `o` (open), `c` (close).
- **Position and Recording**:
- `stream`: Start recording arm movements.
- `m pos [number]`: Save current position as a specific number.
- `m save [number]`: Move to a saved position.
- `m [action]`: Perform predefined actions, e.g., `home`, `scan`, `pick`, `drop`, `wave`, etc.
### UI preview
Left: Body Control Interface - Right: Arm Control Interface
### Control Commands
Here’s the completed table with example usage for each command:
| **Category** | **Command** | **Description** | **Example Usage** |
|-----------------------|--------------|---------------------------------------|----------------------------------------------------|
| **Body Movement** | `mv` | Move forward | `http:///command?cmd=mv` |
| | `bk` | Move backward | `http:///command?cmd=bk` |
| | `lt` | Turn left | `http:///command?cmd=lt` |
| | `rt` | Turn right | `http:///command?cmd=rt` |
| | `rl` | Rotate left | `http:///command?cmd=rl` |
| | `rr` | Rotate right | `http:///command?cmd=rr` |
| | `st` | Stop | `http:///command?cmd=st` |
| | `spd X` | Set speed (X: 0-255) | `http:///command?cmd=spd%20150` |
| **Arm Movement** | `b +/-` | Base rotation | `http:///command?cmd=b%20+` or `cmd=b%20-` |
| | `s +/-` | Shoulder movement | `http:///command?cmd=s%20+` or `cmd=s%20-` |
| | `e +/-` | Elbow movement | `http:///command?cmd=e%20+` or `cmd=e%20-` |
| | `g o/c` | Gripper open (`o`) / close (`c`) | `http:///command?cmd=g%20o` or `cmd=g%20c` |
| **Pre-defined Movements** | `m h` | Home position | `http:///command?cmd=m%20h` |
| | `m s` | Scan position | `http:///command?cmd=m%20s` |
| | `m p` | Pick object | `http:///command?cmd=m%20p` |
| | `m d` | Drop object | `http:///command?cmd=m%20d` |
| | `m w` | Wave | `http:///command?cmd=m%20w` |
| **Position Memory** | `m pos X` | Save position (X: 1-3) | `http:///command?cmd=m%20pos%201` |
| | `m save X` | Load position (X: 1-3) | `http:///command?cmd=m%20save%201` |
| **Recording** | `stream` | Start recording | `http:///command?cmd=stream` |
| | `done` | Stop recording | `http:///command?cmd=done` |
| | `play` | Play recording | `http:///command?cmd=play` |
| | `clear` | Clear recording | `http:///command?cmd=clear` |
| **Obstacle Avoidance** | `oa on` | Enable OA | `http:///command?cmd=oa%20on` |
| | `oa off` | Disable OA | `http:///command?cmd=oa%20off` |
| | `oa nav` | Auto navigation using OA | `http:///command?cmd=oa%20nav` |
## User Interface
The interface features a modern, retro-styled design with:
- Responsive layout
- Tab-based navigation
- Touch-friendly controls
- Visual feedback
- Dark theme
- Intuitive icons
- Status notifications
## Troubleshooting
- **Cannot Connect to Wi-Fi**: Double-check the SSID and password. Restart the ESP8266.
- **Commands Not Working**: Ensure all components are wired correctly. Check for any loose connections or power supply issues.
- **Servo or Motor Issues**: Verify that the power supply is adequate for servos and motors.
### Common Issues
1. **Can't connect to WiFi**
- Verify credentials
- Check WiFi signal strength
- Ensure ESP32 is powered properly
2. **Commands not responding**
- Check serial monitor for errors
- Verify IP address
- Check network connectivity
3. **UI not loading**
- Clear browser cache
- Check browser console for errors
- Verify all CDN resources are loading
## Notes
- **Power Considerations**: Ensure that the ESP8266 has a stable 3.3V power supply. Motors and servos may require separate power sources if they draw significant current.
- **Pin Limitations**: The ESP8266 has limited PWM pins, so configure carefully based on your hardware setup.
## License
This project is licensed under the [MIT License](LICENSE).