https://github.com/rawfish69/esp32-rc-car
Remote control car powered by ESP32
https://github.com/rawfish69/esp32-rc-car
Last synced: 11 months ago
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Remote control car powered by ESP32
- Host: GitHub
- URL: https://github.com/rawfish69/esp32-rc-car
- Owner: RawFish69
- License: gpl-3.0
- Created: 2025-01-06T14:16:37.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-04-13T21:28:11.000Z (about 1 year ago)
- Last Synced: 2025-06-18T20:47:00.127Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 43.5 MB
- Stars: 9
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ESP32 RC Car
[](https://www.arduino.cc/)
[](https://www.espressif.com/)
[](https://www.espressif.com/en/products/modules/esp32)
[](https://www.espressif.com/en/products/software/esp-now/overview)
> A browser-based RC car project powered by ESP32-C3, featuring real-time control through an intuitive web interface with virtual joystick controls. Available in both single-board and dual-board configurations.
---
## Features
### Core Features
- Dual operation modes: Default (2-wheel) and Omni (4-wheel) drive
- Mode switching via hardware switch
- Browser-based control interface with virtual joystick
- Real-time motor control and status monitoring
- ESP-NOW communication for reliable control
- Emergency stop function
- Individual wheel speed tuning
### Communication Options
- Single-board WiFi mode
- Direct WiFi AP connection
- Browser-based control
- Low latency for close range
- Dual-board ESP-NOW mode
- Extended range (100m+)
- More reliable connection
- No WiFi network required
- Split control/drive functionality
## Setup Guide
### Option 1: Single ESP32 Setup (Simpler)
1. Choose your desired mode and flash the corresponding code:
- For Default mode: Flash `default/default.ino`
- For Omni mode: Flash `omni/omni.ino`
2. Wire motors according to pin configuration
3. Power up the system
4. Connect to WiFi AP "Web RC Car"
5. Navigate to `192.168.1.101` in browser
### Option 2: Dual ESP32 Setup (Advanced)
Requires two ESP32 boards - one for control, one for the car.
#### Controller Options:
A. Basic Controller:
- Flash `control.ino` to controller ESP32
- Simple setup, fixed control mode
B. Advanced Controller (with mode switching):
- Flash `master_control.ino` to controller ESP32
- Requires additional wiring:
* Mode switch to PIN 5
* OLED display (SDA: 3, SCL: 4)
- Allows real-time mode switching
#### Car Setup (Required for both controller options):
1. Flash `drive.ino` to car's ESP32
2. Wire motors according to pin config
3. Configure MAC addresses:
- Set receiving MAC in drive board
- Set corresponding MAC in controller
#### Usage:
1. Power up both boards
2. Connect to controller's WiFi:
- Basic: "Web RC Car"
- Advanced: "RC Default Mode" or "RC Omni Mode"
3. Navigate to `192.168.1.101`
4. If using advanced controller, use switch to toggle modes
### Mode Selection (Dual ESP Setup)
- Default Mode (2-wheel): Switch LOW
- Standard differential steering
- Forward/reverse with turning
- Omni Mode (4-wheel): Switch HIGH
- Full directional control
- Rotation while moving
## Architecture
### Single-Board Version
```
┌─────────────┐ ┌──────────────┐ ┌───────────┐
│ Browser │ WS │ ESP32-C3 │ PWM │ Motors │
│ Interface │◄───►│ Web Server │────►│ Driver │
└─────────────┘ └──────────────┘ └───────────┘
```
### Dual-Board Version
```
┌─────────────┐ ┌──────────────┐ ┌──────────────┐ ┌───────────┐
│ Browser │ WS │ Control │ │ Drive │ PWM │ Motors │
│ Interface │◄───►│ Board │◄───►│ Board │────►│ Driver │
└─────────────┘ └──────────────┘ └──────────────┘ └───────────┘
WiFi ESP-NOW
```
### Component Overview
1. **Web Interface** (`web_interface.cpp`)
- HTML/CSS layout
- JavaScript joystick controls
- WebSocket client
- Real-time status display
- UI event handling
2. **Control Board** (`control.ino`)
- Web server hosting
- User interface handling
- ESP-NOW transmitter
- OLED display updates
- Connection management
3. **Drive Board** (`drive.ino`)
- ESP-NOW receiver
- Motor control logic
- Failsafe handling
- Automatic reconnection
- Status monitoring
### Communication Flow
```
Browser (Web Interface) → WebSocket → Control Board → ESP-NOW → Drive Board → Motors
```
### Data Flow
```
User Input → JSON Command → ESP-NOW Packet → Motor Signal → Physical Movement
```
## Master Controller
The file master_control.ino manages both Omni and Default modes
through ESP-NOW communication. Default mode now also supports direct
ESP-NOW control to the drive board.
## Hardware Requirements
- ESP32-C3-Mini development board
- Dual H-Bridge motor driver
- 2x / 4x DC motors with wheels
- LiPo battery or AA batteries
- Chassis (3D printed, Laser Cut parts, etc)
- Basic electronic components
- Soldering is optional
## Vehicle Builds
### Omni-Drive Version
*4-wheel omni-directional drive configuration*
### Standard Version
*2-wheel differential drive configuration*
## Pin Configuration
### Default Version (2-Wheel Drive)
| Pin | Function |
|-----|----------|
| 7 | Left Motor PWM |
| 0 | Right Motor PWM |
| 8 | Left Motor Forward |
| 9 | Left Motor Reverse |
| 4 | Right Motor Forward |
| 3 | Right Motor Reverse |
### Omni Version (4-Wheel Drive)
| Motor | Enable Pin (PWM) | Direction 1 | Direction 2 |
|----------------|------------------|-------------|-------------|
| Left Front | 5 | 6 | 7 |
| Right Front | 20 | 21 | 3 |
| Left Back | 8 | 9 | 10 |
| Right Back | 2 | 1 | 0 |
## Dual-Board Version
An alternative version using two ESP32 boards with ESP-NOW communication:
### Features
- Long-range control (hundreds of meters)
- Direct peer-to-peer communication
- No WiFi network required
- Split control and drive functionality
- More reliable communication
### Components
- Control Board: Handles web interface and user input
- Drive Board: Controls motors and receives commands
- ESP-NOW protocol for board-to-board communication
### Benefits
- Separation of concerns
- Extended range capability
- Reduced latency
- More reliable motor control
- Independent WiFi and control systems
The code for this version is in:
- `control.ino`: Web interface and ESP-NOW transmitter
- `drive.ino`: Motor control and ESP-NOW receiver
## Web Interface
The interface includes:
- Interactive joystick
- Real-time wheel speed indicators
- Quick control buttons
- Fine-tuning controls
- Status monitoring panel
## Supporting Documentation
### Design Files
*3D CAD model of chassis*
### Control Display
*OLED status display on control board*
### Wiring Diagrams
*Omni version wiring*
*Default version wiring*
## Technical Details
### Motor Control
- 10-bit PWM resolution (0-1023)
- 50Hz PWM frequency
- Minimum PWM threshold for reliable start
- Individual wheel speed tuning
- Proportional turn control
### Network Configuration
- AP Mode: `Web RC Car`
- IP: 192.168.1.101
- No password required
- Optimized for low latency
## Performance Tuning
1. **Motor Dead Zone**: Adjust `MOTOR_MIN_PWM` if motors don't start smoothly
2. **Turn Sensitivity**: Modify the turn rate mapping in the web interface
3. **Wheel Balance**: Use the tuning sliders to compensate for motor differences