Initial commit

esp32_motor/esp32_motor.ino

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+#define MOTOR_SPEED 27
+#define MOTOR_FWRD 26
+#define MOTOR_BACK 25
+#define MAX_SPEED 0xffff
+#include "esp32-hal-ledc.h"
+
+void setup() {
+  // put your setup code here, to run once:
+  pinMode(MOTOR_FWRD,OUTPUT);
+  pinMode(MOTOR_BACK,OUTPUT);
+
+  digitalWrite(MOTOR_BACK,LOW);
+  digitalWrite(MOTOR_FWRD,HIGH);
+
+  //for motor ...
+  ledcSetup(1, 5000, 8);    // channel 1, 50 Hz, 16-bit width
+  ledcAttachPin(MOTOR_SPEED, 1);   // GPIO 22 assigned to channel 1
+  analogWrite(MOTOR_SPEED, 0);
+
+  Serial.begin(115200);
+  Serial.println("Enter values between 0 - 255");
+}
+
+void loop() {
+
+  if(Serial.available())
+    { 
+      uint8_t speed = Serial.parseInt();
+      Serial.println(speed);
+      analogWrite(MOTOR_SPEED, speed );
+    }
+}
+
+void analogWrite(uint8_t pin, uint8_t speed){
+    ledcWrite(1, speed); 
+}
+

esp32_servo/esp32_servo.ino

@@ -0,0 +1,24 @@
+#include <ESP32Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+int servo_angle = 0;    // variable to store the servo position
+#define SERVOPIN 14     // Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
+
+void setup() {
+  // put your setup code here, to run once:
+  myservo.attach(SERVOPIN);   // attaches the servo on pin 18 to the servo object
+                              // using default min/max of 1000us and 2000us
+                              // different servos may require different min/max settings
+                              // for an accurate 0 to 180 sweep
+}
+
+void loop() {
+  for (servo_angle = 0; servo_angle <= 180; servo_angle += 10) { // goes from 0 degrees to 180 degrees in steps of 1 degree
+    myservo.write(servo_angle);                                 // tell servo to go to position in variable 'pos'
+    delay(50);                                                  // waits 15ms for the servo to reach the position
+  }
+  for (servo_angle = 180; servo_angle >= 0; servo_angle -= 10) { // goes from 180 degrees to 0 degrees
+    myservo.write(servo_angle);                                 // tell servo to go to position in variable 'pos'
+    delay(50);                                                  // waits 15ms for the servo to reach the position
+  }
+}

esp32_servo_sonic/esp32_servo_sonic.ino

@@ -0,0 +1,105 @@
+#include <ESP32Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+int servo_angle = 0;    // variable to store the servo position
+#define SERVOPIN 14     // Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
+#define SERVO_LEFT 45
+#define SERVO_RIGHT 135
+#define SERVO_FORWARD 90
+
+
+#define US_TRIG 13
+#define US_ECHO 12
+#define US_STOP_DISTANCE 10
+long distance_forward_cm,distance_left_cm,distance_right_cm;
+
+
+void setup() {
+    //Serial port
+    Serial.begin(115200);
+
+    //Ultra sonic pins
+    pinMode(US_TRIG, OUTPUT);
+    pinMode(US_ECHO, INPUT);
+    //servo init
+    myservo.attach(SERVOPIN);         // attaches the servo on pin 18 to the servo object
+                                      // using default min/max of 1000us and 2000us
+                                      // different servos may require different min/max settings
+                                      // for an accurate 0 to 180 sweep
+    delay(1000);
+    myservo.write(SERVO_FORWARD);     // start looking forward
+    delay(2000);
+    myservo.write(SERVO_LEFT);     // start looking forward
+    delay(2000);
+    myservo.write(SERVO_FORWARD);     // start looking forward
+    delay(2000);
+    myservo.write(SERVO_RIGHT);     // start looking forward
+    delay(2000);
+    myservo.write(SERVO_FORWARD);     // start looking forward
+    
+}
+
+
+void loop() {
+
+  distance_forward_cm = measure_distance_cm();      // measure the distance in front of us
+
+  if(distance_forward_cm<US_STOP_DISTANCE){
+    //there is something in front of us
+    myservo.write(SERVO_LEFT);                      // look the left and meaasure distance
+    delay(1000);                                     // wait 1s
+    distance_left_cm = measure_distance_cm();       // measure the distance in left of us
+    delay(1000);                                     // wait 1s
+    myservo.write(SERVO_RIGHT);                      // look the left and meaasure distance
+    delay(1000);                                     // wait 1s
+    distance_right_cm = measure_distance_cm();       // measure the distance in left of us
+    delay(1000);                                     // wait 1s
+
+    if(distance_left_cm > distance_right_cm){
+      // goto to the left
+      for(int pos = SERVO_FORWARD;pos>SERVO_LEFT;pos--){
+        myservo.write(pos);
+        delay(15);
+      }
+    }
+    else{
+      // goto to the right
+      for(int pos = SERVO_FORWARD;pos<SERVO_RIGHT;pos++){
+        myservo.write(pos);
+        delay(15);
+      }
+    }
+
+    delay(1000);
+    myservo.write(SERVO_FORWARD);
+    delay(1000);
+  }
+  
+  delay(250);//ms
+}
+
+long measure_distance_cm(){
+  long distance_cm,echo_duration;
+  // start measurment by a short high pulse of 10 microseconds length at the trig pin ...
+  digitalWrite(US_TRIG,LOW);
+  delayMicroseconds(2);
+  digitalWrite(US_TRIG,HIGH);
+  delayMicroseconds(10);
+  digitalWrite(US_TRIG,LOW);
+
+  // measure the duration in microseconds of the echo pin HIGH - this is the time the echo needs to be back at the sensor
+  pinMode(US_ECHO,INPUT);
+  echo_duration = pulseIn(US_ECHO,HIGH);
+
+  // convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec
+  // the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one
+  // distance_cm = echo_duration/2 * 0,0344   or   distance_cm = echo_duration/2 / 29,1
+  distance_cm = (echo_duration/2) / 29.1;
+
+  //print this result at the screen
+  Serial.print("Distance in cm: ");
+  Serial.println(distance_cm);
+  return(distance_cm);
+
+}
+

esp32_ultra_sonic/esp32_ultra_sonic.ino

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+#define US_TRIG 13
+#define US_ECHO 12
+
+long distance_cm, echo_duration;
+
+void setup() {
+  //Serial port
+  Serial.begin(115200);
+
+  //Ultra sonic pins
+  pinMode(US_TRIG, OUTPUT);
+  pinMode(US_ECHO, INPUT);
+}
+
+void loop() {
+  // start measurment by a short high pulse of 10 microseconds length at the trig pin ...
+  digitalWrite(US_TRIG,LOW);
+  delayMicroseconds(2);
+  digitalWrite(US_TRIG,HIGH);
+  delayMicroseconds(10);
+  digitalWrite(US_TRIG,LOW);
+
+  // measure the duration in microseconds of the echo pin HIGH - this is the time the echo needs to be back at the sensor
+  pinMode(US_ECHO,INPUT);
+  echo_duration = pulseIn(US_ECHO,HIGH);
+
+  // convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec
+  // the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one
+  // distance_cm = echo_duration/2 * 0,0344   or   distance_cm = echo_duration/2 / 29,1
+  distance_cm = (echo_duration/2) / 29.1;
+
+  //print this result at the screen
+  Serial.print("Distance in cm: ");
+  Serial.println(distance_cm);
+
+  //wait before next measurement
+  delay(250); //ms
+  
+}