//HarishProjects.com
//Oredr Projects kit and Electronics Parts from Harish Projects
#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>
#include <ESP32Servo.h>
#define PAN_PIN 14
#define TILT_PIN 15
Servo panServo;
Servo tiltServo;
struct MOTOR_PINS
{
int pinEn;
int pinIN1;
int pinIN2;
};
std::vector<MOTOR_PINS> motorPins =
{
{2, 12, 13}, //RIGHT_MOTOR Pins (EnA, IN1, IN2)
{2, 1, 3}, //LEFT_MOTOR Pins (EnB, IN3, IN4)
};
#define LIGHT_PIN 4
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define STOP 0
#define RIGHT_MOTOR 0
#define LEFT_MOTOR 1
#define FORWARD 1
#define BACKWARD -1
const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8;
const int PWMSpeedChannel = 2;
const int PWMLightChannel = 3;
//Camera related constants
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
const char* ssid = "MyWiFiCar";
const char* password = "12345678";
AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsCarInput("/CarInput");
uint32_t cameraClientId = 0;
const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
<style>
.arrows {
font-size:30px;
color:red;
}
td.button {
background-color:black;
border-radius:25%;
box-shadow: 5px 5px #888888;
}
td.button:active {
transform: translate(5px,5px);
box-shadow: none;
}
.noselect {
-webkit-touch-callout: none; /* iOS Safari */
-webkit-user-select: none; /* Safari */
-khtml-user-select: none; /* Konqueror HTML */
-moz-user-select: none; /* Firefox */
-ms-user-select: none; /* Internet Explorer/Edge */
user-select: none; /* Non-prefixed version, currently
supported by Chrome and Opera */
}
.slidecontainer {
width: 100%;
}
.slider {
-webkit-appearance: none;
width: 100%;
height: 15px;
border-radius: 5px;
background: #d3d3d3;
outline: none;
opacity: 0.7;
-webkit-transition: .2s;
transition: opacity .2s;
}
.slider:hover {
opacity: 1;
}
.slider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 25px;
height: 25px;
border-radius: 50%;
background: red;
cursor: pointer;
}
.slider::-moz-range-thumb {
width: 25px;
height: 25px;
border-radius: 50%;
background: red;
cursor: pointer;
}
</style>
</head>
<body class="noselect" align="center" style="background-color:white">
<table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
<tr>
<img id="cameraImage" src="" style="width:400px;height:250px"></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","1")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇧</span></td>
<td></td>
</tr>
<tr>
<td class="button" ontouchstart='sendButtonInput("MoveCar","3")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇦</span></td>
<td class="button"></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","4")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇨</span></td>
</tr>
<tr>
<td></td>
<td class="button" ontouchstart='sendButtonInput("MoveCar","2")' ontouchend='sendButtonInput("MoveCar","0")'><span class="arrows" >⇩</span></td>
<td></td>
</tr>
<tr/><tr/>
<tr>
<td style="text-align:left"><b>Speed:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="255" value="150" class="slider" id="Speed" oninput='sendButtonInput("Speed",value)'>
</div>
</td>
</tr>
<tr>
<td style="text-align:left"><b>Light:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="255" value="0" class="slider" id="Light" oninput='sendButtonInput("Light",value)'>
</div>
</td>
</tr>
<tr>
<td style="text-align:left"><b>Pan:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="180" value="90" class="slider" id="Pan" oninput='sendButtonInput("Pan",value)'>
</div>
</td>
</tr>
<tr>
<td style="text-align:left"><b>Tilt:</b></td>
<td colspan=2>
<div class="slidecontainer">
<input type="range" min="0" max="180" value="90" class="slider" id="Tilt" oninput='sendButtonInput("Tilt",value)'>
</div>
</td>
</tr>
</table>
<script>
var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
var webSocketCarInputUrl = "ws:\/\/" + window.location.hostname + "/CarInput";
var websocketCamera;
var websocketCarInput;
function initCameraWebSocket()
{
websocketCamera = new WebSocket(webSocketCameraUrl);
websocketCamera.binaryType = 'blob';
websocketCamera.onopen = function(event){};
websocketCamera.onclose = function(event){setTimeout(initCameraWebSocket, 2000);};
websocketCamera.onmessage = function(event)
{
var imageId = document.getElementById("cameraImage");
imageId.src = URL.createObjectURL(event.data);
};
}
function initCarInputWebSocket()
{
websocketCarInput = new WebSocket(webSocketCarInputUrl);
websocketCarInput.onopen = function(event)
{
sendButtonInput("Speed", document.getElementById("Speed").value);
sendButtonInput("Light", document.getElementById("Light").value);
sendButtonInput("Pan", document.getElementById("Pan").value);
sendButtonInput("Tilt", document.getElementById("Tilt").value);
};
websocketCarInput.onclose = function(event){setTimeout(initCarInputWebSocket, 2000);};
websocketCarInput.onmessage = function(event){};
}
function initWebSocket()
{
initCameraWebSocket ();
initCarInputWebSocket();
}
function sendButtonInput(key, value)
{
var data = key + "," + value;
websocketCarInput.send(data);
}
window.onload = initWebSocket;
document.getElementById("mainTable").addEventListener("touchend", function(event){
event.preventDefault()
});
</script>
</body>
</html>
)HTMLHOMEPAGE";
void rotateMotor(int motorNumber, int motorDirection)
{
if (motorDirection == FORWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, HIGH);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
else if (motorDirection == BACKWARD)
{
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, HIGH);
}
else
{
digitalWrite(motorPins[motorNumber].pinIN1, LOW);
digitalWrite(motorPins[motorNumber].pinIN2, LOW);
}
}
void moveCar(int inputValue)
{
Serial.printf("Got value as %d\n", inputValue);
switch(inputValue)
{
case UP:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case DOWN:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case LEFT:
rotateMotor(RIGHT_MOTOR, FORWARD);
rotateMotor(LEFT_MOTOR, BACKWARD);
break;
case RIGHT:
rotateMotor(RIGHT_MOTOR, BACKWARD);
rotateMotor(LEFT_MOTOR, FORWARD);
break;
case STOP:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
default:
rotateMotor(RIGHT_MOTOR, STOP);
rotateMotor(LEFT_MOTOR, STOP);
break;
}
}
void handleRoot(AsyncWebServerRequest *request)
{
request->send_P(200, "text/html", htmlHomePage);
}
void handleNotFound(AsyncWebServerRequest *request)
{
request->send(404, "text/plain", "File Not Found");
}
void onCarInputWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
moveCar(0);
ledcWrite(PWMLightChannel, 0);
panServo.write(90);
tiltServo.write(90);
break;
case WS_EVT_DATA:
AwsFrameInfo *info;
info = (AwsFrameInfo*)arg;
if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT)
{
std::string myData = "";
myData.assign((char *)data, len);
std::istringstream ss(myData);
std::string key, value;
std::getline(ss, key, ',');
std::getline(ss, value, ',');
Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str());
int valueInt = atoi(value.c_str());
if (key == "MoveCar")
{
moveCar(valueInt);
}
else if (key == "Speed")
{
ledcWrite(PWMSpeedChannel, valueInt);
}
else if (key == "Light")
{
ledcWrite(PWMLightChannel, valueInt);
}
else if (key == "Pan")
{
panServo.write(valueInt);
}
else if (key == "Tilt")
{
tiltServo.write(valueInt);
}
}
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void onCameraWebSocketEvent(AsyncWebSocket *server,
AsyncWebSocketClient *client,
AwsEventType type,
void *arg,
uint8_t *data,
size_t len)
{
switch (type)
{
case WS_EVT_CONNECT:
Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
cameraClientId = client->id();
break;
case WS_EVT_DISCONNECT:
Serial.printf("WebSocket client #%u disconnected\n", client->id());
cameraClientId = 0;
break;
case WS_EVT_DATA:
break;
case WS_EVT_PONG:
case WS_EVT_ERROR:
break;
default:
break;
}
}
void setupCamera()
{
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_4;
config.ledc_timer = LEDC_TIMER_2;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = RESET_GPIO_NUM;
config.xclk_freq_hz = 20000000;
config.pixel_format = PIXFORMAT_JPEG;
config.frame_size = FRAMESIZE_VGA;
config.jpeg_quality = 10;
config.fb_count = 1;
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK)
{
Serial.printf("Camera init failed with error 0x%x", err);
return;
}
if (psramFound())
{
heap_caps_malloc_extmem_enable(20000);
Serial.printf("PSRAM initialized. malloc to take memory from psram above this size");
}
}
void sendCameraPicture()
{
if (cameraClientId == 0)
{
return;
}
unsigned long startTime1 = millis();
//capture a frame
camera_fb_t * fb = esp_camera_fb_get();
if (!fb)
{
Serial.println("Frame buffer could not be acquired");
return;
}
unsigned long startTime2 = millis();
wsCamera.binary(cameraClientId, fb->buf, fb->len);
esp_camera_fb_return(fb);
//Wait for message to be delivered
while (true)
{
AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId);
if (!clientPointer || !(clientPointer->queueIsFull()))
{
break;
}
delay(1);
}
unsigned long startTime3 = millis();
Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 );
}
void setUpPinModes()
{
panServo.attach(PAN_PIN);
tiltServo.attach(TILT_PIN);
//Set up PWM
ledcSetup(PWMSpeedChannel, PWMFreq, PWMResolution);
ledcSetup(PWMLightChannel, PWMFreq, PWMResolution);
for (int i = 0; i < motorPins.size(); i++)
{
pinMode(motorPins[i].pinEn, OUTPUT);
pinMode(motorPins[i].pinIN1, OUTPUT);
pinMode(motorPins[i].pinIN2, OUTPUT);
/* Attach the PWM Channel to the motor enb Pin */
ledcAttachPin(motorPins[i].pinEn, PWMSpeedChannel);
}
moveCar(STOP);
pinMode(LIGHT_PIN, OUTPUT);
ledcAttachPin(LIGHT_PIN, PWMLightChannel);
}
void setup(void)
{
setUpPinModes();
//Serial.begin(115200);
WiFi.softAP(ssid, password);
IPAddress IP = WiFi.softAPIP();
Serial.print("AP IP address: ");
Serial.println(IP);
server.on("/", HTTP_GET, handleRoot);
server.onNotFound(handleNotFound);
wsCamera.onEvent(onCameraWebSocketEvent);
server.addHandler(&wsCamera);
wsCarInput.onEvent(onCarInputWebSocketEvent);
server.addHandler(&wsCarInput);
server.begin();
Serial.println("HTTP server started");
setupCamera();
}
void loop()
{
wsCamera.cleanupClients();
wsCarInput.cleanupClients();
sendCameraPicture();
Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram());
}
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