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