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  1. #include "esp_wifi.h"
  2. #include "esp_camera.h"
  3. #include <WiFi.h>
  4.  
  5. /* Wifi Crdentials */
  6. const char* ssid = "hash";
  7. const char* password = "12345678";
  8.  
  9.  
  10. #define CAMERA_MODEL_AI_THINKER
  11.  
  12. #define PWDN_GPIO_NUM     32
  13. #define RESET_GPIO_NUM    -1
  14. #define XCLK_GPIO_NUM      0
  15. #define SIOD_GPIO_NUM     26
  16. #define SIOC_GPIO_NUM     27
  17. #define Y9_GPIO_NUM       35
  18. #define Y8_GPIO_NUM       34
  19. #define Y7_GPIO_NUM       39
  20. #define Y6_GPIO_NUM       36
  21. #define Y5_GPIO_NUM       21
  22. #define Y4_GPIO_NUM       19
  23. #define Y3_GPIO_NUM       18
  24. #define Y2_GPIO_NUM        5
  25. #define VSYNC_GPIO_NUM    25
  26. #define HREF_GPIO_NUM     23
  27. #define PCLK_GPIO_NUM     22
  28.  
  29. void startCameraServer();
  30.  
  31. /* Defining motor and servo pins */
  32. const int RMotor1 = 14;
  33. const int RMotor2 = 15;
  34. const int LMotor1 = 13;
  35. const int LMotor2 = 12;
  36. const int ServoPin = 2;
  37. const int FlashPin = 4;
  38.  
  39. void initMotors()
  40. {
  41.   /* Configuring motor PWM functionalities to generate the signal */
  42.   /* ledcSetup(Channel, Frequency, Resolution) */
  43.   ledcSetup(3, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  44.   ledcSetup(4, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  45.   ledcSetup(5, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  46.   ledcSetup(6, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  47.  
  48.   /* Attaching the channel to the GPIO to be controlled */
  49.   /* ledcAttachPin(GPIO, Channel) */
  50.   ledcAttachPin(RMotor1, 3);
  51.   ledcAttachPin(RMotor2, 4);
  52.   ledcAttachPin(LMotor1, 5);
  53.   ledcAttachPin(LMotor2, 6);
  54.  
  55. }
  56.  
  57. void initServo() {
  58.   ledcSetup(8, 50, 16); /*50 hz PWM, 16-bit resolution and range from 3250 to 6500 */
  59.   ledcAttachPin(ServoPin, 8);
  60. }
  61.  
  62. void initFlash() {
  63.   ledcSetup(7, 5000, 8); /* 5000 hz PWM, 8-bit resolution and range from 0 to 255 */
  64.   ledcAttachPin(FlashPin, 7);
  65. }
  66.  
  67. void setup() {
  68.   Serial.begin(115200);
  69.   Serial.setDebugOutput(true);
  70.   Serial.println();
  71.  
  72.   camera_config_t config;
  73.   config.ledc_channel = LEDC_CHANNEL_0;
  74.   config.ledc_timer = LEDC_TIMER_0;
  75.   config.pin_d0 = Y2_GPIO_NUM;
  76.   config.pin_d1 = Y3_GPIO_NUM;
  77.   config.pin_d2 = Y4_GPIO_NUM;
  78.   config.pin_d3 = Y5_GPIO_NUM;
  79.   config.pin_d4 = Y6_GPIO_NUM;
  80.   config.pin_d5 = Y7_GPIO_NUM;
  81.   config.pin_d6 = Y8_GPIO_NUM;
  82.   config.pin_d7 = Y9_GPIO_NUM;
  83.   config.pin_xclk = XCLK_GPIO_NUM;
  84.   config.pin_pclk = PCLK_GPIO_NUM;
  85.   config.pin_vsync = VSYNC_GPIO_NUM;
  86.   config.pin_href = HREF_GPIO_NUM;
  87.   config.pin_sscb_sda = SIOD_GPIO_NUM;
  88.   config.pin_sscb_scl = SIOC_GPIO_NUM;
  89.   config.pin_pwdn = PWDN_GPIO_NUM;
  90.   config.pin_reset = RESET_GPIO_NUM;
  91.   config.xclk_freq_hz = 20000000;
  92.   config.pixel_format = PIXFORMAT_JPEG;
  93.   //init with high specs to pre-allocate larger buffers
  94.   if (psramFound()) {
  95.     config.frame_size = FRAMESIZE_QVGA;
  96.     config.jpeg_quality = 10;
  97.     config.fb_count = 2;
  98.   } else {
  99.     config.frame_size = FRAMESIZE_QVGA;
  100.     config.jpeg_quality = 12;
  101.     config.fb_count = 1;
  102.   }
  103.  
  104.   // camera init
  105.   esp_err_t err = esp_camera_init(&config);
  106.   if (err != ESP_OK) {
  107.     Serial.printf("Camera init failed with error 0x%x", err);
  108.     return;
  109.   }
  110.  
  111.   //drop down frame size for higher initial frame rate
  112.   sensor_t * s = esp_camera_sensor_get();
  113.   s->set_framesize(s, FRAMESIZE_QVGA);
  114.   s->set_vflip(s, 1);
  115.   s->set_hmirror(s, 1);
  116.  
  117.   /* Initializing motor,servo and led */
  118.   initMotors();
  119.   initServo();
  120.   initFlash();
  121.  
  122.   /* Connecting to WiFi */
  123.   WiFi.begin(ssid, password);
  124.   while (WiFi.status() != WL_CONNECTED) {
  125.     delay(500);
  126.     Serial.print(".");
  127.   }
  128.   Serial.println("");
  129.   Serial.println("WiFi connected");
  130.  
  131.   startCameraServer();/* Starting camera server */
  132.  
  133.   Serial.print("Camera Ready! Use 'http://");
  134.   Serial.print(WiFi.localIP());
  135.   //WiFiAddr = WiFi.localIP().toString();
  136.   Serial.println("' to connect");
  137.  
  138.   /* Flash led */
  139.   for (int i = 0; i < 5; i++) {
  140.     ledcWrite(7, 10);
  141.     delay(50);
  142.     ledcWrite(7, 0);
  143.     delay(50);
  144.   }
  145. }
  146.  
  147. void loop() {
  148.   // put your main code here, to run repeatedly:
  149.  
  150. }
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#include "esp_wifi.h"
#include "esp_camera.h"
#include <WiFi.h>

/* Wifi Crdentials */
const char* ssid = "hash";
const char* password = "12345678";


#define CAMERA_MODEL_AI_THINKER

#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

void startCameraServer();

/* Defining motor and servo pins */
const int RMotor1 = 14;
const int RMotor2 = 15;
const int LMotor1 = 13;
const int LMotor2 = 12;
const int ServoPin = 2;
const int FlashPin = 4;

void initMotors()
{
  /* Configuring motor PWM functionalities to generate the signal */
  /* ledcSetup(Channel, Frequency, Resolution) */
  ledcSetup(3, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  ledcSetup(4, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  ledcSetup(5, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */
  ledcSetup(6, 2000, 8); /* 2000 hz PWM, 8-bit resolution and range from 0 to 255 */

  /* Attaching the channel to the GPIO to be controlled */
  /* ledcAttachPin(GPIO, Channel) */
  ledcAttachPin(RMotor1, 3);
  ledcAttachPin(RMotor2, 4);
  ledcAttachPin(LMotor1, 5);
  ledcAttachPin(LMotor2, 6);

}

void initServo() {
  ledcSetup(8, 50, 16); /*50 hz PWM, 16-bit resolution and range from 3250 to 6500 */
  ledcAttachPin(ServoPin, 8);
}

void initFlash() {
  ledcSetup(7, 5000, 8); /* 5000 hz PWM, 8-bit resolution and range from 0 to 255 */
  ledcAttachPin(FlashPin, 7);
}

void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  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;
  //init with high specs to pre-allocate larger buffers
  if (psramFound()) {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 12;
    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;
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);

  /* Initializing motor,servo and led */
  initMotors();
  initServo();
  initFlash();

  /* Connecting to WiFi */
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");

  startCameraServer();/* Starting camera server */

  Serial.print("Camera Ready! Use 'http://");
  Serial.print(WiFi.localIP());
  //WiFiAddr = WiFi.localIP().toString();
  Serial.println("' to connect");

  /* Flash led */
  for (int i = 0; i < 5; i++) {
    ledcWrite(7, 10);
    delay(50);
    ledcWrite(7, 0);
    delay(50);
  }
}

void loop() {
  // put your main code here, to run repeatedly:

}
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