Esp32 Brain

Code running on the main controller.

• Working Environment
• How to build and Flash
• Program Flow

Working Environment

Tools:

• Enveronment: PlatformIO

• Framework: Arduino

• Code editor: Visual Studio Code

• MQTT Broker: shiftr.io

Hardware:

• Mcu: ESP 32

How to build and Flash

Setup Visual studio Code

The VS code setup Instructions are available in Getting Started.

• Setup Visual studio code according to the Host operating system.
• Install PlatformIo extension inside VS code
• Make sure that ESP32 Dev Module is selected, and Framework as Arduino

Building and Flashing Application:

To build the application, clone the affbotics_software repo and go to the folder ESP32_AGV_brain

• Pull the repository locally
• Navigate to the directory affbotics_software/firmware/avg/ESP32_AGV_brain/
• Select the COM port
• Click Upload

Program Flow

Basic Workflow:

Firmware is present in affbotics_software/firmware/avg/ESP32_AGV_brain/src/main.cpp

• Esp32 will connect to the wifi when booted
• It will read the line sensor and Ultrasonic sensor calculate the values and sends commands to the motor via Modbus

Am a Geek:

• WiFi ssid and password can be changed by editing const char ssid[] and const char pass[]
• MQTT broker can be changed by editing the line client.connect("esp32", "public", "public" )) and client.begin("public.cloud.shiftr.io", net);
• PID values can be tweaked by changing values of variabled kp, ki, kd