Arduino program to esp32

Projects Programming
1

Hey guys can somebody help me convert this program to esp32?

I saw this guy made this program, i just want to test it out with my esp32 and my self builded robot:

ty for the helps!

2

That is not how the forum works. You need to do your best first, then show us the code and any wiring diagrams, and we can then comment on that.

3

That would be a starting point and the code would be in the correct format. The biggest problem will be the pins and level interface to the hardware. Using a UNO or Nano would be the easiest way.

4

Sorry then, its my first time using this site.

Im using ESP32, because after solving the self balancing problem, i want to control it via Bluetooth with my smart phone.

Im using the MPU6050, after the calibraionts, i got those ofsets:
Sensor readings with offsets: 0 3 16386 2 0 0
Your offsets: 2278 -580 630 138 64 -52
Data is printed as: acelX acelY acelZ giroX giroY giroZ
Check that your sensor readings are close to 0 0 16384 0 0 0

and this is how i connected the mpu6050:
VCC 3.3V
GND gnd
SCL G22
SDA G21
INT G23

with the motor driver, im using this:
L289 H BRIDGE
ENA – G32 //right side
ENB – G33 //left side
IN1 – G16 //right forward
IN2 – G17 //right backward
IN3 – G18 //left forward
IN4 – G19 //left backward

and this is the code what ive done with my values: #include "I2Cdev.h"
#include <PID_v1.h>
#include "MPU6050_6Axis_MotionApps20.h"

MPU6050 mpu;

#define DMP_INT_PIN 23

bool dmpReady = false;
uint8_t mpuIntStatus;
uint8_t devStatus;
uint16_t packetSize;
uint16_t fifoCount;
uint8_t fifoBuffer[64];

Quaternion q;
VectorFloat gravity;
float ypr[3];

double setpoint = 182;

double Kp = 40.0; // Csökkentett Kp érték
double Kd = 1.0; // Kd érték módosítása
double Ki = 1.0; // Kis Ki érték a finomhangoláshoz

double input, output;
PID pid(&output, &input, &setpoint, Kp, Ki, Kd, DIRECT);
volatile bool mpuInterrupt = false;

void dmpDataReady()
{
mpuInterrupt = true;
}

void setup() {
Serial.begin(115200);
Wire.begin(21, 22);
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();

Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
devStatus = mpu.dmpInitialize();

mpu.setXGyroOffset(138);
mpu.setYGyroOffset(64);
mpu.setZGyroOffset(-52);
mpu.setZAccelOffset(630);

if (devStatus == 0) {
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);

Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(23), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;

packetSize = mpu.dmpGetFIFOPacketSize();

pid.SetMode(AUTOMATIC);
pid.SetSampleTime(10);
pid.SetOutputLimits(-255, 255);

} else {
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
return; // Kilépés, ha a DMP nem sikerült
}

pinMode(32, OUTPUT); // ENA
pinMode(33, OUTPUT); // ENB
digitalWrite(32, HIGH); // ENA HIGH
digitalWrite(33, HIGH); // ENB HIGH

pinMode(16, OUTPUT);
pinMode(17, OUTPUT);
pinMode(18, OUTPUT);
pinMode(19, OUTPUT);

digitalWrite(16, LOW);
digitalWrite(17, LOW);
digitalWrite(18, LOW);
digitalWrite(19, LOW);
}

void loop() {
if (!dmpReady) return;

while (!mpuInterrupt && fifoCount < packetSize) {
pid.Compute();

Serial.print(input);
Serial.print("==>");
Serial.println(output);

if (input > 150 && input < 200) {
  if (output > 0) Forward();
  else if (output < 0) Reverse();
} else {
  Stop();
}

}

mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();

fifoCount = mpu.getFIFOCount(); // Helyes FIFO méret beállítása

if (fifoCount == 1024) {
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
} else if (fifoCount >= packetSize) {
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
input = ypr[1] * 180 / M_PI + 180; // pitch (y) értéke
}
}

void Forward() {
digitalWrite(16, HIGH);
digitalWrite(17, LOW);
digitalWrite(18, HIGH);
digitalWrite(19, LOW);
Serial.print("F");
}

void Reverse() {
digitalWrite(16, LOW);
digitalWrite(17, HIGH);
digitalWrite(18, LOW);
digitalWrite(19, HIGH);
Serial.print("R");
}

void Stop() {
digitalWrite(16, LOW);
digitalWrite(17, LOW);
digitalWrite(18, LOW);
digitalWrite(19, LOW);
Serial.print("S");
}