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https://github.com/umerghafoor/precision-farming-robot

Precision Farming Robot using ESP32 for motor control and live video streaming. Controlled via MQTT and a GUI, this system aims to automate farming tasks for smart agriculture.
https://github.com/umerghafoor/precision-farming-robot

esp32 iot mqtt opencv precision-farming robot-control smart-agriculture

Last synced: 17 days ago
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Precision Farming Robot using ESP32 for motor control and live video streaming. Controlled via MQTT and a GUI, this system aims to automate farming tasks for smart agriculture.

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README 

        
# Precision-Farming-Robot



This repository contains the code and instructions for controlling a precision farming robot using an **ESP32** microcontroller. The robot can be controlled via a **GUI** and **MQTT** communication for movement control, live video streaming, and servo operation. This project aims to help automate tasks like farming and environmental monitoring using robotics.



## Table of Contents



1. [Features](#features)

2. [Dependencies](#dependencies)

   - [Firmware](#firmware)

   - [Software](#software)

   - [Hardware](#hardware)

3. [Setup Instructions](#setup-instructions)

   - [Firmware Setup](#1-firmware-setup)

   - [Software Setup](#2-software-setup)

   - [Application Setup](#3-application-setup)

4. [Usage](#usage)

   - [Robot Control](#robot-control)

   - [Video Streaming](#video-streaming)

   - [Motor Control](#motor-control)

   - [MQTT Commands](#mqtt-commands)

5. [Folder Structure](#folder-structure)

6. [License](#license)

7. [TODO](#todo)



## Features



- **Robot Control**: Control the robot's movement using a GUI and MQTT-based commands.

- **Live Video Feed**: Stream video from the robot to the control application via MQTT.

- **Wi-Fi and MQTT Communication**: Connect the ESP32 to Wi-Fi and communicate with a broker for control and feedback.

- **Robot Motor Control**: Control up to four motors for movement and a servo for additional movement or functionality.



## Dependencies



### Firmware



- **ESP32 Board Support** for Arduino IDE or PlatformIO.

- **Required Libraries**:

  - `WiFi.h` (for Wi-Fi connectivity)

  - `PubSubClient` (for MQTT communication)

  - `controller.h` (for actuator control)

  - `mqtt_broker.h` (for MQTT setup)



### Software



- **Python 3.x**

- **OpenCV** (for video processing)

- **Paho MQTT** (for MQTT communication)

- **NumPy** (for handling video data)



### Hardware



- **ESP32 Development Board**

- **DC Motors** (4 Motors for M1, M2, M3, M4)

- **Servo Motor**

- **Motor Driver** (L298N or similar)

- **Power Supply** for Motors and ESP32

- **Camera Module** (for video streaming)



## Setup Instructions



### 1. Firmware Setup



1. **Configure Wi-Fi credentials**: Edit the `mqtt_broker.h` file to add your Wi-Fi credentials and MQTT broker details.

2. **Upload firmware**: Upload the firmware to the ESP32 using Arduino IDE or PlatformIO.

3. **Connect hardware**: Connect the motors, motor driver, and camera according to the pin configuration found in the `Hardware/` folder.



### 2. Software Setup



1. **Install Python dependencies**:



   ```bash

   pip install opencv-python paho-mqtt numpy

   ```



2. **Run the Publisher (`pub.py`)** script to start streaming video from the robot.



3. **Run the Subscriber (`sub.py`)** script to view the live video stream.



### 3. Application Setup



1. **Install required libraries** for the GUI application:



   ```bash

   pip install PyQt6 paho-mqtt opencv-python

   ```



2. **Run the RobotCarControlApp** script to control the robot and view the video feed:



   ```bash

   python RobotCarControlApp.py

   ```



## Usage



### Robot Control



- Use the GUI to move the robot in four directions (up, down, left, right) and control its speed.

- Press the **Stop** button to halt the robot.

- Toggle the **Auto** button for autonomous control.



### Video Streaming



- The **Publisher** (`pub.py`) captures video from the robot’s camera and sends it to the MQTT broker.

- The **Subscriber** (`sub.py`) receives the video stream and displays it in a window.



### Motor Control



- Control the robot's four motors through the GUI, using buttons for directional movement and a slider for speed control.



### MQTT Commands



Control the robot using the following MQTT commands.



```shell

.\mosquitto_pub.exe -t robot/control -h  -m JSON_MESSAGE

.\mosquitto_sub.exe -t robot/control -h 

```



---



#### 1. **Forward Movement**



```json

{"command": "FORWARD", "speed": 100, "continuous": true, "stearAngle": 0}

```



#### 2. **Backward Movement**



```json

{"command": "BACKWARD", "speed": 100, "continuous": true, "stearAngle": 0}

```



#### 3. **Rotate Left**



```json

{"command": "LEFT", "speed": 100, "continuous": true, "stearAngle": 0}

```



#### 4. **Rotate Right**



```json

{"command": "RIGHT", "speed": 100, "continuous": true, "stearAngle": 0}

```



#### 5. **Turning Forward Right**



```json

{"command": "FORWARD_RIGHT", "speed": 100, "continuous": true, "stearAngle": 30}

```



#### 6. **Turning Forward Left**



```json

{"command": "FORWARD_LEFT", "speed": 100, "continuous": true, "stearAngle": 30}

```



#### 7. **Turning Backward Left**



```json

{"command": "BACKWARD_LEFT", "speed": 100, "continuous": true, "stearAngle": 30}

```



#### 8. **Turning Backward Right**



```json

{"command": "BACKWARD_RIGHT", "speed": 100, "continuous": true, "stearAngle": 30}

```



#### 9. **Stopping the Motors**



```json

{"command": "STOP"}

```



#### 10. **Controlling the Servo**



```json

{"command": "SERVO", "angle": 45}

```



## Folder Structure



```plaintext

├── Application/        # GUI application for robot control and video streaming

├── Firmware/           # ESP32 firmware for motor control and MQTT communication

├── Hardware/           # Pin configuration and hardware setup

├── Software/           # MQTT video streaming publisher and subscriber

└── README.md           # This file

```



## License



This project is licensed under the **MIT License** - see the [LICENSE](LICENSE) file for details.



---



## TODO



- [ ] Implement autonomous pathfinding using sensors (e.g., ultrasonic, IR).

- [ ] Integrate additional sensors for environmental data (temperature, soil moisture).

- [ ] Develop and test the robot in real-world farming environments.

- [ ] Add features for battery monitoring and power-saving modes.

- [ ] Create an Android or iOS app for mobile control.

- [ ] Add advanced motor control algorithms for smoother movement.

- [ ] Implement a camera feed streaming feature with adjustable resolution.

- [ ] Optimize the GUI for better user experience.

- [ ] Add unit tests for the firmware and software components.