ESP32 RC Cars

Demo video

https://youtu.be/OubYFXmvA1E

This project demonstrates an ESP32-based remote-controlled camera system capable of transmitting live video streams over WebSockets and controlling motors and servos. A Python server application manages WebSocket communication and provides a web interface to view and control the ESP32 devices.

Features

• Live video streaming from an ESP32-CAM to a web server.
• Remote control of a motor and a servo via WebSocket commands.
• Automatic timeout to reset motor and servo to default states.
• Dynamic multi-client video feed canvas on the server.

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Hardware Requirements

• ESP32-CAM (AI Thinker module or compatible board).
• Motor and servo connected to appropriate GPIO pins.
• Stable 5V power supply for the ESP32-CAM.
• Optional SD card (if required for other functionalities).
• Wi-Fi network for communication.

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Materials

I bought everything for this kit from aliexpress:

• Car chassis: https://s.click.aliexpress.com/e/_opUxSdp
• Electronic speed control: https://s.click.aliexpress.com/e/_oF12WIj I used the 30 amp version because it had a better BEC output - 5v at 3 amps. Seems to be plenty of current to power both the esc and servo.
• Battery holder: https://s.click.aliexpress.com/e/_onDYLjZ
• 2 18650 3.6v cells or 7.4v battery pack (I have used both, cells are more flexible for other projects)
• ESP32-CAM: https://www.aliexpress.com/item/1005001468076374.html (Very important to get one with external antenna and and I used the 170 degree fisheye camera)
• Bluetooth Gamepad (I used a PS4 controller)

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Wiring

I took the 3-pin jst adapter off the servo that came with the car chassis and moved them into a 4-pin jst plug to plug into the esp32. I then spliced the postive and negative leads on the servo and added a 3-pin female jst plug using a crimping tool. Finally, i connected the (white) esc control wire to the 4-pin jst plug and 3-pin female plug. It looks like this:

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Software Requirements

ESP32 Code

Libraries

• WiFi.h for Wi-Fi connectivity.
• ArduinoWebsockets.h for WebSocket communication.
• esp_camera.h for ESP32-CAM camera control.
• ServoControl.h and Esc.h for controlling the servo and motor.
• Arduino.h for standard Arduino functions.

Python Server

Dependencies

Install the following Python libraries:

pip3 install aiohttp opencv-python numpy

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Configuration

ESP32 Firmware

1. Modify the secrets.h file to include your Wi-Fi credentials and WebSocket server URL:

#define WIFI_SSID "YourWiFiSSID"
#define WIFI_PASSWORD "YourWiFiPassword"
#define WS_SERVER_URL "ws://YourServerIP:Port"

2. Ensure the GPIO pins for the camera module, motor, and servo match your hardware setup:

• Camera GPIO pins are pre-configured for the AI Thinker ESP32-CAM board.
• Update motor and servo pins if necessary.

Python Server

1. Place the server script in a directory with an index.html file for the web interface.
2. Start the server:

python3 server.py

The server will be accessible on http://localhost:8080/.

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Usage

ESP32

1. Upload the provided sketch to your ESP32-CAM using the Arduino IDE or a compatible platform.
2. Monitor the serial output to ensure successful connection to Wi-Fi and the WebSocket server.

Server

1. Run the Python server script.
2. Open the web interface in a browser to view the live video streams.
3. Send control commands via the WebSocket connection.

WebSocket Commands

• MOTOR:<speed>: Set motor speed (-255 to 255).
• SERVO:<angle>: Set servo angle (0 to 180).
• CONTROL:<speed>:<angle>: Control both motor speed and servo angle simultaneously.

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Technical Details

ESP32 Initialization

• Wi-Fi: Connects to the specified Wi-Fi network.
• Camera: Configures the ESP32-CAM with the appropriate settings for video streaming.
• WebSocket: Establishes a WebSocket connection with the server.

Timeout Handling

If no control commands are received within a predefined timeout period, the motor speed resets to 0, and the servo angle resets to 90.

Python Server

• Handles WebSocket communication with multiple ESP32 clients.
• Processes incoming video frames and dynamically arranges them in a grid.
• Streams the grid of video frames to the web interface.

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Troubleshooting

• Connection Issues:

  • Verify Wi-Fi credentials in secrets.h.
  • Check that the WebSocket server is running and accessible.

• Video Stream Issues:

  • Ensure proper power supply to the ESP32-CAM.
  • Verify camera initialization settings.

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License

This project is open-source and available under the MIT License.

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Contribution

Feel free to submit issues or pull requests to improve the application!