Final Project¶

FOR MY FINAL PROJECT I WANT TO MAKE A MESSENGER ROBOT

to take the temperature at several places of an agricultural plantation

air
ground

Projet Presentation¶

## List of componants

COMPONANT	DESCRIPTION	QUANTITY	PRICES	LINKS
DC MOTOR	DC 12 VOLT, reduction gear motor, 5 rpm	4	4x 14,50 $US	link
MOTOR DC DFRIVER	L293D	2	2x 2,88 $US	LINK
temperature sensor	DHT 11	1	1x 0,84 $US	link
probe,	Hygrometer Soil Moisture Modules	1	1x 7,49€	link
ESP 32 cam	camera	1	1x4.15 $US	Link
Xiao esp C3	microcontroller	1	8 $US	Link
Dupont line	120pcs 10cm 40Pin	1	0.43 $US	Link
Original serial download cable	cable	1	1x1.48 $US	Link
PLA	D = 1.75mm	1	30 $US	Link
MDF	E= 6mm l= 400 l = 300	1	30 $US	Link
ultrason sensor	4.5M	1	0.65 $US	Link

A. plan of my final projet realization¶

1 MECHANIC PART¶

    1 .design

I will use SolidWorks and fusion 360 to design my parts

    2 .Fabrication

### 2 ELECTRONIC PART

Design Boards¶

For the electronic design of my robot I will use EAGLE

### 3 3D printing and cutting (laser,milling )

-electronics board
-body pieces

### 4 programming

esp32 + esp32 cam¶

DATASHEET: CLIC HERE

#### CODE WITH ARDUINO IDE

      #include "esp_camera.h"
      #include <WiFi.h>
      #include "esp_timer.h"
      #include "img_converters.h"
      #include "Arduino.h"
      #include "fb_gfx.h"
      #include "soc/soc.h"             // disable brownout problems
      #include "soc/rtc_cntl_reg.h"    // disable brownout problems
      #include "esp_http_server.h"

// Replace with your network credentials
const char* ssid = "YELLOLAB_WIFI_ADMIN";
const char* password = "Y'ELLOLAB@AD23";

#define PART_BOUNDARY "123456789000000000000987654321"

#define CAMERA_MODEL_AI_THINKER
//#define CAMERA_MODEL_M5STACK_PSRAM
//#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM
//#define CAMERA_MODEL_M5STACK_PSRAM_B
//#define CAMERA_MODEL_WROVER_KIT

#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    21
#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      19
#define Y4_GPIO_NUM      18
#define Y3_GPIO_NUM       5
#define Y2_GPIO_NUM       4
#define VSYNC_GPIO_NUM   25
#define HREF_GPIO_NUM    23
#define PCLK_GPIO_NUM    22

#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       17
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_AI_THINKER)
#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

#elif defined(CAMERA_MODEL_M5STACK_PSRAM_B)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
 #define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     22
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#else
#error "Camera model not selected"
#endif

#define MOTOR_1_PIN_1    14
#define MOTOR_1_PIN_2    15
#define MOTOR_2_PIN_1    13
#define MOTOR_2_PIN_2    12

static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

httpd_handle_t camera_httpd = NULL;
httpd_handle_t stream_httpd = NULL;

static const char PROGMEM INDEX_HTML[] = R"rawliteral(
<html>
<head>
    <title>ESP32-CAM Robot</title>
    <meta name="viewport" content="width=device-width, initial-scale=1">
<style>
  body { font-family: Arial; text-align: center; margin:0px auto; padding-top: 30px;}
  table { margin-left: auto; margin-right: auto; }
  td { padding: 8 px; }
  .button {
    background-color: #2f4468;
    border: none;
    color: white;
    padding: 10px 20px;
    text-align: center;
    text-decoration: none;
    display: inline-block;
    font-size: 18px;
    margin: 6px 3px;
    cursor: pointer;
    -webkit-touch-callout: none;
    -webkit-user-select: none;
    -khtml-user-select: none;
    -moz-user-select: none;
    -ms-user-select: none;
    user-select: none;
    -webkit-tap-highlight-color: rgba(0,0,0,0);
  }
  img {  width: auto ;
    max-width: 100% ;
    height: auto ; 
  }
</style>
</head>
<body>
<h1>ESP32-CAM Robot</h1>
<img src="" id="photo" >
<table>
  <tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('forward');" ontouchstart="toggleCheckbox('forward');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Forward</button></td></tr>
  <tr><td align="center"><button class="button" onmousedown="toggleCheckbox('left');" ontouchstart="toggleCheckbox('left');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Left</button></td><td align="center"><button class="button" onmousedown="toggleCheckbox('stop');" ontouchstart="toggleCheckbox('stop');">Stop</button></td><td align="center"><button class="button" onmousedown="toggleCheckbox('right');" ontouchstart="toggleCheckbox('right');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Right</button></td></tr>
  <tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('backward');" ontouchstart="toggleCheckbox('backward');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Backward</button></td></tr>                   
</table>
<script>
 function toggleCheckbox(x) {
 var xhr = new XMLHttpRequest();
 xhr.open("GET", "/action?go=" + x, true);
 xhr.send();
 }
window.onload = document.getElementById("photo").src = window.location.href.slice(0, -1) + ":81/stream";
</script>
</body>
</html>
)rawliteral";

static esp_err_t index_handler(httpd_req_t *req){
httpd_resp_set_type(req, "text/html");
return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}

static esp_err_t stream_handler(httpd_req_t *req){
camera_fb_t * fb = NULL;
esp_err_t res = ESP_OK;
size_t _jpg_buf_len = 0;
uint8_t * _jpg_buf = NULL;
char * part_buf[64];

res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
if(res != ESP_OK){
return res;
    }