The SERVO motors does't run

Using Arduino Programming Questions
1

Hi everyone.
the ESP32CAM Pan and Tilt Video Streaming Web Server from:

https://create.arduino.cc/projecthub/1NextPCB/diy-pan-tilt-control-using-servos-for-esp32-cam-4fed3c?ref=user&ref_id=1810019&offset=0

flashing light LED controlled works well, but the SERVOs not move at all,
nor streaming , what can be the reason?
Thanks
Adam

#include "esp_camera.h"
#include <Arduino.h>
#include <WiFi.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <iostream>
#include <sstream>
#include <ESP32Servo.h>

#define DUMMY_SERVO1_PIN 12     //We need to create 2 dummy servos.
#define DUMMY_SERVO2_PIN 13     //So that ESP32Servo library does not interfere with pwm channel and timer used by esp32 camera.


#define PAN_PIN 14
#define TILT_PIN 15


Servo dummyServo1;
Servo dummyServo2;
Servo panServo;
Servo tiltServo;


//Camera related constants
#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


const char* ssid     = "NowISeeYou";
const char* password = "12345678";


AsyncWebServer server(80);
AsyncWebSocket wsCamera("/Camera");
AsyncWebSocket wsServoInput("/ServoInput");
uint32_t cameraClientId = 0;


#define LIGHT_PIN 4
const int PWMLightChannel = 4;


const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(
<!DOCTYPE html>
<html>
  <head>
  <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
    <style>
    .noselect {
      -webkit-touch-callout: none; /* iOS Safari */
        -webkit-user-select: none; /* Safari */
         -khtml-user-select: none; /* Konqueror HTML */
           -moz-user-select: none; /* Firefox */
            -ms-user-select: none; /* Internet Explorer/Edge */
                user-select: none; /* Non-prefixed version, currently
                                      supported by Chrome and Opera */
    }


    .slidecontainer {
      width: 100%;
    }


    .slider {
      -webkit-appearance: none;
      width: 100%;
      height: 20px;
      border-radius: 5px;
      background: #d3d3d3;
      outline: none;
      opacity: 0.7;
      -webkit-transition: .2s;
      transition: opacity .2s;
    }


    .slider:hover {
      opacity: 1;
    }
  
    .slider::-webkit-slider-thumb {
      -webkit-appearance: none;
      appearance: none;
      width: 40px;
      height: 40px;
      border-radius: 50%;
      background: red;
      cursor: pointer;
    }


    .slider::-moz-range-thumb {
      width: 40px;
      height: 40px;
      border-radius: 50%;
      background: red;
      cursor: pointer;
    }


    </style>
  
  </head>
  <body class="noselect" align="center" style="background-color:white">
     
    <!--h2 style="color: teal;text-align:center;">Wi-Fi Camera &#128663; Control</h2-->
    
    <table id="mainTable" style="width:400px;margin:auto;table-layout:fixed" CELLSPACING=10>
      <tr>
        <img id="cameraImage" src="" style="width:400px;height:250px"></td>
      </tr> 
      <tr/><tr/>
      <tr>
        <td style="text-align:left"><b>Pan:</b></td>
        <td colspan=2>
         <div class="slidecontainer">
            <input type="range" min="0" max="180" value="90" class="slider" id="Pan" oninput='sendButtonInput("Pan",value)'>
          </div>
        </td>
      </tr> 
      <tr/><tr/>       
      <tr>
        <td style="text-align:left"><b>Tilt:</b></td>
        <td colspan=2>
          <div class="slidecontainer">
            <input type="range" min="0" max="180" value="90" class="slider" id="Tilt" oninput='sendButtonInput("Tilt",value)'>
          </div>
        </td>   
      </tr>
      <tr/><tr/>       
      <tr>
        <td style="text-align:left"><b>Light:</b></td>
        <td colspan=2>
          <div class="slidecontainer">
            <input type="range" min="0" max="255" value="0" class="slider" id="Light" oninput='sendButtonInput("Light",value)'>
          </div>
        </td>   
      </tr>      
    </table>
  
    <script>
      var webSocketCameraUrl = "ws:\/\/" + window.location.hostname + "/Camera";
      var webSocketServoInputUrl = "ws:\/\/" + window.location.hostname + "/ServoInput";      
      var websocketCamera;
      var websocketServoInput;
      
      function initCameraWebSocket() 
      {
        websocketCamera = new WebSocket(webSocketCameraUrl);
        websocketCamera.binaryType = 'blob';
        websocketCamera.onopen    = function(event){};
        websocketCamera.onclose   = function(event){setTimeout(initCameraWebSocket, 2000);};
        websocketCamera.onmessage = function(event)
        {
          var imageId = document.getElementById("cameraImage");
          imageId.src = URL.createObjectURL(event.data);
        };
      }
      
      function initServoInputWebSocket() 
      {
        websocketServoInput = new WebSocket(webSocketServoInputUrl);
        websocketServoInput.onopen    = function(event)
        {
          var panButton = document.getElementById("Pan");
          sendButtonInput("Pan", panButton.value);
          var tiltButton = document.getElementById("Tilt");
          sendButtonInput("Tilt", tiltButton.value);
          var lightButton = document.getElementById("Light");
          sendButtonInput("Light", lightButton.value);          
        };
        websocketServoInput.onclose   = function(event){setTimeout(initServoInputWebSocket, 2000);};
        websocketServoInput.onmessage = function(event){};        
      }
      
      function initWebSocket() 
      {
        initCameraWebSocket ();
        initServoInputWebSocket();
      }


      function sendButtonInput(key, value) 
      {
        var data = key + "," + value;
        websocketServoInput.send(data);
      }
    
      window.onload = initWebSocket;
      document.getElementById("mainTable").addEventListener("touchend", function(event){
        event.preventDefault()
      });      
    </script>
  </body>    
</html>
)HTMLHOMEPAGE";


void handleRoot(AsyncWebServerRequest *request) 
{
  request->send_P(200, "text/html", htmlHomePage);
}


void handleNotFound(AsyncWebServerRequest *request) 
{
    request->send(404, "text/plain", "File Not Found");
}


void onServoInputWebSocketEvent(AsyncWebSocket *server, 
                      AsyncWebSocketClient *client, 
                      AwsEventType type,
                      void *arg, 
                      uint8_t *data, 
                      size_t len) 
{                      
  switch (type) 
  {
    case WS_EVT_CONNECT:
      Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
      break;
    case WS_EVT_DISCONNECT:
      Serial.printf("WebSocket client #%u disconnected\n", client->id());
      panServo.write(90);
      tiltServo.write(90);
      ledcWrite(PWMLightChannel, 0);
      break;
    case WS_EVT_DATA:
      AwsFrameInfo *info;
      info = (AwsFrameInfo*)arg;
      if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) 
      {
        std::string myData = "";
        myData.assign((char *)data, len);
        Serial.printf("Key,Value = [%s]\n", myData.c_str());        
        std::istringstream ss(myData);
        std::string key, value;
        std::getline(ss, key, ',');
        std::getline(ss, value, ',');
        if ( value != "" )
        {
          int valueInt = atoi(value.c_str());
          if (key == "Pan")
          {
            panServo.write(valueInt);
          }
          else if (key == "Tilt")
          {
            tiltServo.write(valueInt);   
          }
          else if (key == "Light")
          {
            ledcWrite(PWMLightChannel, valueInt);         
          }           
        }
      }
      break;
    case WS_EVT_PONG:
    case WS_EVT_ERROR:
      break;
    default:
      break;  
  }
}


void onCameraWebSocketEvent(AsyncWebSocket *server, 
                      AsyncWebSocketClient *client, 
                      AwsEventType type,
                      void *arg, 
                      uint8_t *data, 
                      size_t len) 
{                      
  switch (type) 
  {
    case WS_EVT_CONNECT:
      Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
      cameraClientId = client->id();
      break;
    case WS_EVT_DISCONNECT:
      Serial.printf("WebSocket client #%u disconnected\n", client->id());
      cameraClientId = 0;
      break;
    case WS_EVT_DATA:
      break;
    case WS_EVT_PONG:
    case WS_EVT_ERROR:
      break;
    default:
      break;  
  }
}


void setupCamera()
{
  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;
  
  config.frame_size = FRAMESIZE_VGA;
  config.jpeg_quality = 10;
  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);
    return;
  }  


  if (psramFound())
  {
    heap_caps_malloc_extmem_enable(20000);  
    Serial.printf("PSRAM initialized. malloc to take memory from psram above this size");    
  }  
}


void sendCameraPicture()
{
  if (cameraClientId == 0)
  {
    return;
  }
  unsigned long  startTime1 = millis();
  //capture a frame
  camera_fb_t * fb = esp_camera_fb_get();
  if (!fb) 
  {
      Serial.println("Frame buffer could not be acquired");
      return;
  }


  unsigned long  startTime2 = millis();
  wsCamera.binary(cameraClientId, fb->buf, fb->len);
  esp_camera_fb_return(fb);
    
  //Wait for message to be delivered
  while (true)
  {
    AsyncWebSocketClient * clientPointer = wsCamera.client(cameraClientId);
    if (!clientPointer || !(clientPointer->queueIsFull()))
    {
      break;
    }
    delay(1);
  }
  
  unsigned long  startTime3 = millis();  
  Serial.printf("Time taken Total: %d|%d|%d\n",startTime3 - startTime1, startTime2 - startTime1, startTime3-startTime2 );
}

void setUpPinModes()
{
  dummyServo1.attach(DUMMY_SERVO1_PIN);
  dummyServo2.attach(DUMMY_SERVO2_PIN);  
  panServo.attach(PAN_PIN);
  tiltServo.attach(TILT_PIN);

  //Set up flash light
  ledcSetup(PWMLightChannel, 1000, 8);
  pinMode(LIGHT_PIN, OUTPUT);    
  ledcAttachPin(LIGHT_PIN, PWMLightChannel);
}


void setup(void) 
{
  setUpPinModes();
  Serial.begin(115200);

  Serial.print("File   : "), Serial.println(__FILE__);
  const char compile_date[] = __DATE__ " " __TIME__;
  Serial.print("Compile timestamp: ");
  Serial.println(compile_date);

  WiFi.softAP(ssid, password);
  IPAddress IP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(IP);

  server.on("/", HTTP_GET, handleRoot);
  server.onNotFound(handleNotFound);
      
  wsCamera.onEvent(onCameraWebSocketEvent);
  server.addHandler(&wsCamera);

  wsServoInput.onEvent(onServoInputWebSocketEvent);
  server.addHandler(&wsServoInput);

  server.begin();
  Serial.println("HTTP server started");

  setupCamera();
}


void loop() 
{
  wsCamera.cleanupClients(); 
  wsServoInput.cleanupClients(); 
  sendCameraPicture(); 
  //Serial.printf("SPIRam Total heap %d, SPIRam Free Heap %d\n", ESP.getPsramSize(), ESP.getFreePsram());
}
2

Schematic requested.
C

1 Like
3

Is part or all of the code made by you or someone on the project hub? Otherwise maybe panButton,tiltButton, and lightButton aren't getting updated in initServoInputWebSocket().

tinkerer9

4

pp10
pp10532×594 28.9 KB

5

looks like you're powering the Servos (red wire) from the ESP32-CAM. I don't know the device - have you verified that it can power your servos? Check for available output current on that power pin.

1 Like
6

Power OK, the SERVO sweep well.

7

Ahh sooo. Misunderstood that.

1 Like
8

well.
the SERVO tested by example Sweep works well.
NOT move here!

9

Never mind. Misread the diagram. Sheesh. 5V supply is there.
But, since sweep works, and the setup looks good, it's time to dig into your code. Have you made any attempts to diagnose using print statements in the servo section, to see if valueInt ever changes from 0? That's where I'd be looking first.
C

1 Like
10

No yet.
I guess I should check to see if the slider button send out data and what data, but I don't know where to add the Serial.print() lines...

11

BTW.
The pan SERVO works well, Tilt never run. why?
Any conflict of SERVOs on ESP32CAM when used Arduino code?

12

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