Esp32d wroon problem to make my car move all direction

redlive · May 19, 2022, 9:42am

here is my wiring

then my code where i cant get the best result i need the car to go all directions with both motors on i calculated the wheels for more effective turns but dont see where iam wrong using pWM channels
could someone help please


#include <BluetoothSerial.h>
BluetoothSerial btSerial;
#define BT_NAME " vision" // Set bluetooth name

const int pinEnA = 2;
const int pinIn1 = 0;
const int pinIn2 = 4;

const int pinEnB = 18;
const int pinIn3 = 22;
const int pinIn4 = 23;


#define MAX_motorforward 1
#define MAX_motorlateral 3.14
#define PWM_FREQUENCY   1000
#define PWM_RESOLUTION  8
#define PWM_CHANNEL 0



boolean btConnected = false;
char key, previousKey;
float motorforward, motorlateral;
long previousMillis = 0;
int timeout = 1000;


void setup() {

  pinMode(pinEnA,OUTPUT);
  pinMode(pinEnB,OUTPUT);
  pinMode(pinIn1,OUTPUT);
  pinMode(pinIn2,OUTPUT);
  pinMode(pinIn3,OUTPUT);
  pinMode(pinIn4,OUTPUT);

   */
   digitalWrite(pinEnA,HIGH);
  digitalWrite(pinEnB,HIGH);
  //Parar motor Esquerda;
  digitalWrite(pinIn1,HIGH);
  digitalWrite(pinIn2,HIGH);
  //Parar motor Direita;
  digitalWrite(pinIn3,HIGH);
  digitalWrite(pinIn4,HIGH);

 
 
 ledcSetup(PWM_CHANNEL, PWM_FREQUENCY, PWM_RESOLUTION);
  
 
  ledcAttachPin(pinEnA,PWM_CHANNEL);
  ledcAttachPin(pinEnB, PWM_CHANNEL);


 Serial.begin(9600);
  btSerial.begin(BT_NAME);
  
  Serial.println("ESP32 Bluetooth Mobile Robot");
  Serial.println();
    
   
  
}


void loop() {
  
 control();
  delay(300);


// Move the DC motor forward at maximum speed
  Serial.println("Moving forward");
  digitalWrite(pinIn1, HIGH);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, HIGH);
  digitalWrite(pinIn4, LOW); 
  delay(2000);
/*
  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, LOW);
  delay(1000);

  
  // Move the DC motor right at maximum speed
  Serial.println("Moving right");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, HIGH);
  digitalWrite(pinIn3, HIGH);
  digitalWrite(pinIn4, LOW); 
  delay(2000);

  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, LOW);
  delay(1000);

  
   // Move the DC motor left at maximum speed
  Serial.println("Moving left");
  digitalWrite(pinIn1, HIGH);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, HIGH); 
  delay(2000);
  
  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, LOW);
  delay(1000);

   // Move the DC motor backwards at maximum speed
  Serial.println("Moving backwards");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, HIGH);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, HIGH); 
  delay(2000);

  
  
  // Stop the DC motor
  Serial.println("Motor stopped");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, LOW);
  delay(1000);
  delay(2000);

  // Move DC motor forward with increasing speed
  digitalWrite(pinIn1, HIGH);
  digitalWrite(pinIn2, LOW);
   digitalWrite(pinIn3, HIGH);
  digitalWrite(pinIn4, LOW);
*/
  
if (btSerial.available()) {
    previousMillis = millis();
    
    char inChar = (char)btSerial.read();

    if (btConnected == false) {
      btConnected = true;
    //  digitalWrite(BUILTIN_LED, LOW); // Turn on led
      Serial.println("Bluetooth connected.");
    }
 if (inChar >= '0' && inChar <= '9') {
      key = inChar;
      if (key != previousKey) {
        
        switch (key) {
          case '0':
            Serial.println("Robot stop.");
           motorforward =0;
             motorlateral =0;
            
            break;

          case '1':
            Serial.println("Robot move forward.");
             motorforward = 0.1;
             motorlateral = 0;
             
            break;

          case '2':
            Serial.println("Robot move backward.");
          motorforward = -0.1;
             motorlateral = 0;
            break;

          case '3':
            Serial.println("Robot turn left.");
            motorforward = 0.1;
             motorlateral = 0.314;
            break;

          case '4':
            Serial.println("Robot turn right.");
           motorforward = 0.1;
             motorlateral =-0.314;
            break;
        }

         motorforward = constrain(  motorforward, -MAX_motorforward,MAX_motorforward);
        motorlateral = constrain( motorlateral, -MAX_motorlateral, MAX_motorlateral);
   control(  motorforward,motorlateral);
        previousKey = key;

      }
   }
}


if (millis() - previousMillis > timeout &&
      btConnected == true) {

    Serial.println("Bluetooth disconnected.");
  control(0,0);
   // digitalWrite(BUILTIN_LED, HIGH); // Turn off led
    btConnected = false;
      }
}

void control(float forward, float lateral ){


  float  wheelL, wheelR, l = 0.13, r = 0.03;
  
  
  wheelR = ((forward / r) + (lateral * l) / (2 * r)) * 60;
  wheelL = ((forward / r) - (lateral * l) / (2 * r)) * 60;

  Serial.print("Roda Direita:");
  Serial.println(wheelR);
  Serial.print("Roda Esquerda:");
  Serial.println(wheelL);

 wheelR =constrain( wheelR, -255,255);
 wheelL =constrain(  wheelL , -255,255);
  
  if (wheelR >= 0) {

 //float speedR = map(wheelR, 0, 255, 255, 0);
     ledcWrite(pinIn1_PWM_CHANNEL, wheelR);
     ledcWrite(pinIn1_PWM_CHANNEL, 0);
  }
  else {

//float speedR = map(wheelR, -255, 0, 0, 255);
   ledcWrite(pinIn1_PWM_CHANNEL, 0);
  ledcWrite(pinIn1_PWM_CHANNEL, abs(wheelR));
  }

///////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////

  if (wheelL >= 0) {
    
     
    //float speedL = map(wheelL, 0, 255, 255, 0);
    ledcWrite(pinIn1_PWM_CHANNEL, wheelL);
     ledcWrite(pinIn1_PWM_CHANNEL, 0);
  }
  else {
    
 //float speedL = map(wheelL, -255, 0, 0, 255);
    ledcWrite(pinIn1_PWM_CHANNEL, 0);
     ledcWrite(pinIn1_PWM_CHANNEL, abs(wheelL));
  }
}

anon73444976 · May 19, 2022, 9:46am

You've got the end of a block comment in the middle of setup - does that even compile?

redlive · May 19, 2022, 9:48am

not like that it doesnt but its a small problem it does compile without it

ruilviana · May 19, 2022, 11:02am

Hi,
your code does not compile because the function asks for arguments (line 218) and they are not provided in the call (line 70).

redlive · May 19, 2022, 12:16pm

here its the improvement i got today i have now got 3 direction but only one does not work
this one now compiles
check please

#include <BluetoothSerial.h>
BluetoothSerial btSerial;
#define BT_NAME "  vision" // Set bluetooth name

const int pinEnA = 2;
const int pinIn1 = 0;
const int pinIn2 = 4;

const int pinEnB = 18;
const int pinIn3 = 22;
const int pinIn4 = 23;


#define MAX_motorforward 1
#define MAX_motorlateral 3.14
#define PWM_FREQUENCY   1000
#define PWM_RESOLUTION  8
#define PWM_CHANNEL 0



boolean btConnected = false;
char key, previousKey;
float motorforward, motorlateral;
long previousMillis = 0;
int timeout = 1000;


void setup() {

  pinMode(pinEnA,OUTPUT);
  pinMode(pinEnB,OUTPUT);
  pinMode(pinIn1,OUTPUT);
  pinMode(pinIn2,OUTPUT);
  pinMode(pinIn3,OUTPUT);
  pinMode(pinIn4,OUTPUT);

   
 
 
 ledcSetup(PWM_CHANNEL, PWM_FREQUENCY, PWM_RESOLUTION);
  
 
  ledcAttachPin(pinEnA,PWM_CHANNEL);
  ledcAttachPin(pinEnB, PWM_CHANNEL);


 Serial.begin(9600);
  btSerial.begin(BT_NAME);
  
  Serial.println("ESP32 Bluetooth Mobile Robot");
  Serial.println();
    
   
  
}


void loop() {
  

  
if (btSerial.available()) {
    previousMillis = millis();
    
    char inChar = (char)btSerial.read();

    if (btConnected == false) {
      btConnected = true;
    //  digitalWrite(BUILTIN_LED, LOW); // Turn on led
      Serial.println("Bluetooth connected.");
    }
 if (inChar >= '0' && inChar <= '9') {
      key = inChar;
      if (key != previousKey) {
        
        switch (key) {
          case '0':
            Serial.println("Robot stop.");
           motorforward =0;
             motorlateral =0;
            
            break;

          case '1':
            Serial.println("Robot move forward.");
             motorforward = 0.15;
             motorlateral = 0;
             forward();
             
            break;

          case '2':
            Serial.println("Robot move backwards.");
          motorforward = -0.15;
             motorlateral = 0;
             backwards();
            break;

          case '3':
            Serial.println("Robot turn left.");
            motorforward = 0;
             motorlateral = 1.5;
             left();
            break;

          case '4':
            Serial.println("Robot turn right.");
           motorforward = 0;
             motorlateral =-1.5;
             right();
            break;
        }

         motorforward = constrain(  motorforward, -MAX_motorforward,MAX_motorforward);
        motorlateral = constrain( motorlateral, -MAX_motorlateral, MAX_motorlateral);
         control(  motorforward,motorlateral);
        previousKey = key;

      }
   }
}

if (millis() - previousMillis > timeout &&
      btConnected == true) {

    Serial.println("Bluetooth disconnected.");
  control(0,0);
   // digitalWrite(BUILTIN_LED, HIGH); // Turn off led
    btConnected = false;
      }

      
}


void control(float forward,float lateral){
 
  float  wheelL, wheelR, l = 0.13, r = 0.03;
  
  
  wheelR = ((forward / r) + (lateral * l) / (2 * r)) * 60;
  wheelL = ((forward / r) - (lateral * l) / (2 * r)) * 60;

  Serial.print("Roda Direita:");
  Serial.println(wheelR);
  Serial.print("Roda Esquerda:");
  Serial.println(wheelL);
   wheelR = constrain(  wheelR, -255,255);
   wheelL = constrain( wheelL, -255, 255);
  
   if (wheelR >= 0) {
    
    ledcWrite(PWM_CHANNEL, wheelR);
  
  }
  else {
    
    ledcWrite(PWM_CHANNEL, abs(wheelR));

    
  }
  if (wheelL >= 0) {
    
    ledcWrite(PWM_CHANNEL, wheelL);
    
  }
  else {
    
    ledcWrite(PWM_CHANNEL, abs(wheelL));
  }

}


//////////////////////////////////////////////////////////////////////////


/////////////////////////////////////////////////////////////////////////

void forward (){


  Serial.println("Moving forward");
  digitalWrite(pinIn1, HIGH);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, HIGH);
  digitalWrite(pinIn4, LOW); 
  
 }
 
  void right (){
  // Move the DC motor right at maximum speed
  Serial.println("Moving right");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, HIGH);
  digitalWrite(pinIn3, HIGH);
  digitalWrite(pinIn4, LOW); 

    }
  
void left (){
  
   // Move the DC motor left at maximum speed
  Serial.println("Moving left");
  digitalWrite(pinIn1, HIGH);
  digitalWrite(pinIn2, LOW);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, HIGH); 
 
  }
  
void backwards (){
   // Move the DC motor backwards at maximum speed
  Serial.println("Moving backwards");
  digitalWrite(pinIn1, LOW);
  digitalWrite(pinIn2, HIGH);
  digitalWrite(pinIn3, LOW);
  digitalWrite(pinIn4, HIGH); 
  delay(2000);

}

ruilviana · May 19, 2022, 12:43pm

Hi,
now compiled.

Questions:

Is this line printing on the serial monitor? "Serial.println("Bluetooth connected.");
Do any of these lines print something to the serial monitor?
Serial.println("Robot stop.");
or
Serial.println("Robot moves forward.");
or
Serial.println("Robot moves backwards.");
or
Serial.println("Robot turn left.");
or
Serial.println("Robot turn right.");
Do any of these lines print something to the serial monitor?
Serial.print("Right Wheel:");
Serial.println(wheelR);
Serial.print("Left Wheel:");
Serial.println(wheelL);
Does the car move in any direction?

redlive · May 19, 2022, 12:54pm

1-yes it does and connects normally
2-yes forward shows the value as well as backwards the rest its just info
3- left wheel and right wheels just info the wheelL and wheelR print the values calculated using the parameter from the switch case to the control() function the switch case
4-car moves 3 directions but doesnt move backwards also the pwm is negative using the function abs should be positive but on thr plotter monitor its shows negative

redlive · May 19, 2022, 1:26pm

the l298 buzzes when i press the buttons to control 1 2 3 4 as i have written on the code where the switch case is at but button 2 backwards doesnt work
im also seeing plotter monitor and the pwm is negative there eventhough i got the abs function there

system · November 15, 2022, 1:27pm

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Esp32d wroon problem to make my car move all direction

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