Esp32 Brain

Code running on the main controller.

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