I am working currently on project with esp32 cam , i trying to move a servo after receiving a response value contains the degree of rotation
The problem is that the servo work fine when i test it in the setup fct but not in the loop fct sometimes it shakes or it doesn't work at all here's my full code :
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> ESP32_CAM_Send_Photo_to_Server //======================================== Including the libraries. #include #include "soc/soc.h" #include "soc/rtc_cntl_reg.h" #include "esp_camera.h" #include //========================================//======================================== CAMERA_MODEL_AI_THINKER GPIO. #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 //======================================== //Your Sensor Pins const int trigPin = 13; const int echoPin = 15;// LED Flash PIN (GPIO 4) #define FLASH_LED_PIN 4//======================================== Insert your network credentials. const char* ssid = "TOPNET_8ED8"; const char* password = "cjlur6u46p"; //======================================== Servo servo;//======================================== Variables for Timer/Millis. unsigned long previousMillis = 0; const int Interval = 5000; //--> Photo capture every 20 seconds. //========================================// Server Address or Server IP. String serverName = "192.168.1.22"; //--> Change with your server computer's IP address or your Domain name. // The file path "upload_img.php" on the server folder. String serverPath = "/predict"; // Server Port. const int serverPort = 5000;// Variable to set capture photo with LED Flash. // Set to "false", then the Flash LED will not light up when capturing a photo. // Set to "true", then the Flash LED lights up when capturing a photo. bool LED_Flash_ON = true;// Initialize WiFiClient. WiFiClient client; int pos; //________________________________________________________________________________ sendPhotoToServer() void sendPhotoToServer() { String AllData; String DataBody;Serial.println(); Serial.println("-----------");//---------------------------------------- Pre capture for accurate timing. Serial.println("Taking a photo...");if (LED_Flash_ON == true) { digitalWrite(FLASH_LED_PIN, HIGH); delay(1000); }for (int i = 0; i <= 3; i++) { camera_fb_t * fb = NULL; fb = esp_camera_fb_get(); if(!fb) { Serial.println("Camera capture failed"); Serial.println("Restarting the ESP32 CAM."); delay(1000); ESP.restart(); return; } esp_camera_fb_return(fb); delay(200); }camera_fb_t * fb = NULL; fb = esp_camera_fb_get(); if(!fb) { Serial.println("Camera capture failed"); Serial.println("Restarting the ESP32 CAM."); delay(1000); ESP.restart(); return; }if (LED_Flash_ON == true) digitalWrite(FLASH_LED_PIN, LOW);Serial.println("Taking a photo was successful."); //----------------------------------------Serial.println("Connecting to server: " + serverName);if (client.connect(serverName.c_str(), serverPort)) { Serial.println("Connection successful!");String post_data = "--dataMarker\r\nContent-Disposition: form-data; name=\"image\"; filename=\"ESP32CAMCap.jpg\"\r\nContent-Type: image/jpeg\r\n\r\n";
String head = post_data;
String boundary = "\r\n--dataMarker--\r\n";
uint32_t imageLen = fb->len;
uint32_t dataLen = head.length() + boundary.length();
uint32_t totalLen = imageLen + dataLen;
client.println("POST " + serverPath + " HTTP/1.1");
client.println("Host: " + serverName);
client.println("Content-Length: " + String(totalLen));
client.println("Content-Type: multipart/form-data; boundary=dataMarker");
client.println();
client.print(head);
uint8_t *fbBuf = fb->buf;
size_t fbLen = fb->len;
for (size_t n=0; n<fbLen; n=n+1024) {
if (n+1024 < fbLen) {
client.write(fbBuf, 1024);
fbBuf += 1024;
}
else if (fbLen%1024>0) {
size_t remainder = fbLen%1024;
client.write(fbBuf, remainder);
}
}
client.print(boundary);
esp_camera_fb_return(fb);
int timoutTimer = 10000;
long startTimer = millis();
boolean state = false;
Serial.println("Response : ");
while ((startTimer + timoutTimer) > millis()) {
Serial.print(".");
delay(200);
// Skip HTTP headers
while (client.available()) {
char c = client.read();
if (c == '\n') {
if (AllData.length()==0) { state=true; }
AllData = "";
}
else if (c != '\r') { AllData += String(c); }
if (state==true) { DataBody += String(c); }
startTimer = millis();
}
if (DataBody.length()>0) { break; }
}
client.stop();
pos = DataBody.toInt();
servo.write(pos);
delay(1000);
Serial.println(DataBody);
Serial.println("-----------");
Serial.println();} else { client.stop(); DataBody = "Connection to " + serverName + " failed."; Serial.println(DataBody); Serial.println("-----------"); } } //// VOID SETUP() void setup() { // put your setup code here, to run once: servo.attach(4); servo.write(50); delay(1000); servo.write(60); delay(1000); servo.write(100); delay(1000); // Disable brownout detector. WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);Serial.begin(115200); Serial.println(); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); pinMode(FLASH_LED_PIN, OUTPUT);// Setting the ESP32 WiFi to station mode. WiFi.mode(WIFI_STA); Serial.println();//---------------------------------------- The process of connecting ESP32 CAM with WiFi Hotspot / WiFi Router. Serial.println(); Serial.print("Connecting to : "); Serial.println(ssid); WiFi.begin(ssid, password);// The process timeout of connecting ESP32 CAM with WiFi Hotspot / WiFi Router is 20 seconds. // If within 20 seconds the ESP32 CAM has not been successfully connected to WiFi, the ESP32 CAM will restart. // I made this condition because on my ESP32-CAM, there are times when it seems like it can't connect to WiFi, so it needs to be restarted to be able to connect to WiFi. int connecting_process_timed_out = 20; //--> 20 = 20 seconds. connecting_process_timed_out = connecting_process_timed_out * 2; while (WiFi.status() != WL_CONNECTED) { Serial.print("."); delay(500); if(connecting_process_timed_out > 0) connecting_process_timed_out--; if(connecting_process_timed_out == 0) { Serial.println(); Serial.print("Failed to connect to "); Serial.println(ssid); Serial.println("Restarting the ESP32 CAM."); delay(1000); ESP.restart(); } }Serial.println(); Serial.print("Successfully connected to "); Serial.println(ssid); //Serial.print("ESP32-CAM IP Address: "); //Serial.println(WiFi.localIP()); //----------------------------------------//---------------------------------------- Set the camera ESP32 CAM. Serial.println(); Serial.print("Set the camera ESP32 CAM...");camera_config_t config; config.ledc_channel = LEDC_CHANNEL_0; config.ledc_timer = LEDC_TIMER_0; 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;// init with high specs to pre-allocate larger buffers if(psramFound()){ config.frame_size = FRAMESIZE_UXGA; config.jpeg_quality = 10; //--> 0-63 lower number means higher quality config.fb_count = 2; } else { config.frame_size = FRAMESIZE_SVGA; config.jpeg_quality = 8; //--> 0-63 lower number means higher quality 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); Serial.println(); Serial.println("Restarting the ESP32 CAM."); delay(1000); ESP.restart(); }sensor_t * s = esp_camera_sensor_get();// Selectable camera resolution details : // -UXGA = 1600 x 1200 pixels // -SXGA = 1280 x 1024 pixels // -XGA = 1024 x 768 pixels // -SVGA = 800 x 600 pixels // -VGA = 640 x 480 pixels // -CIF = 352 x 288 pixels // -QVGA = 320 x 240 pixels // -HQVGA = 240 x 160 pixels // -QQVGA = 160 x 120 pixels s->set_framesize(s, FRAMESIZE_SXGA); //--> UXGA|SXGA|XGA|SVGA|VGA|CIF|QVGA|HQVGA|QQVGASerial.println(); Serial.println("Set camera ESP32 CAM successfully."); //----------------------------------------Serial.println(); Serial.print("ESP32-CAM captures and sends photos to the server every 20 seconds."); }float measureDistance() { digitalWrite(trigPin, LOW); delayMicroseconds(2); digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); long duration = pulseIn(echoPin, HIGH); float distance = (duration * 0.0343) / 2; return distance; }void loop() {float distance = measureDistance();
Serial.println(distance);
if (distance < 10.0) {
sendPhotoToServer();
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