Hai, i have a Submarine robot project, i have a code to create an automatic control and manual control system. the hardware i used is pixycam2, esp32 doit devkit, l298n and 6v dc motor. and software i used to control its blynk app.
#define BLYNK_TEMPLATE_ID “TMPL67cLbSTQw”
#define BLYNK_TEMPLATE_NAME “Kapal Laoet”
#define BLYNK_AUTH_TOKEN “j-Q0NwIcSDBuvwZpp5oqllC6dtZ90xTv”
// Comment this out to disable prints and save space
#define BLYNK_PRINT Serial
#include <WiFi.h>
#include <Pixy2.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
char auth[] = BLYNK_AUTH_TOKEN;
// Your WiFi credentials.
// Set password to “” for open networks.
char ssid[] = “EbemULTRA”;
char pass[] = “ITBGanteng2022”;
Pixy2 pixy;
int IN1 = 4;
int IN2 = 5;
int IN3 = 12;
int IN4 = 13;
// Variabel untuk mode (0: manual, 1: otomatis)
int mode = 0;
const int enA = 19;
BLYNK_WRITE(V0) {
mode = param.asInt();
}
BLYNK_WRITE(V1) { //depan turun
digitalWrite(IN2, param.asInt());
}
BLYNK_WRITE(V2) { //belakang turun
digitalWrite(IN4, param.asInt());
}
BLYNK_WRITE(V3) { //depan naik
digitalWrite(IN1, param.asInt());
}
BLYNK_WRITE(V4) { //belakang naik
digitalWrite(IN3, param.asInt());
}
void controlMotor(int y) {
if (y > 90 && y < 120) { // Objek di tengah, maju
//digitalWrite(IN1, HIGH); //analogWrite(enA, 255);} else if (y < 90) { // Objek di sebelah kiri, belok kanan
digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); //analogWrite(enA, 255);} else if (y > 120) { // Objek di sebelah kanan, belok kiri
digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH);// analogWrite(enA, 255);
} else {
// Objek tidak terdeteksi atau terlalu jauh, berhenti digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW);}
}
void setup()
{
// Debug console
Serial.begin(115200);
pixy.init();
//pinMode(enA, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
//Blynk.begin(auth, ssid, pass);
// You can also specify server:
Blynk.begin(auth, ssid, pass, “blynk.cloud”, 8080);
//Blynk.begin(auth, ssid, pass, IPAddress(192,168,1,100), 8080);
}
void loop() {
Blynk.run();
pixy.ccc.getBlocks();
if (pixy.ccc.numBlocks) {
for (int i = 0; i < pixy.ccc.numBlocks; i++) { int x = pixy.ccc.blocks[i].m_x; int y = pixy.ccc.blocks[i].m_y; if (mode == 1) { // Mode otomatis controlMotor(y); // Panggil fungsi untuk mengontrol motor } }}
}
pixycam2 and esp32 are connected with pin 1 (SPI MISO, UART Rx), pin 6 (GND), pin 4 (SPI MOSI), and pin 3 (SPI SCK) on pixycam2 to pin 23 (MOSI), pin 19 (MISO), pin 18 (SCK), and pin GND on esp32.
esp32 is connected to the l298n motor driver via pin 4, pin 5, pin 12 and pin 13. l298n connects to the dc motor.
i has successfully manual control the subs with blynk app, but when i changed it to auto mode it doesn’t works. i think the problem is pixycam2 and esp32 doesn’t communicate at all.
i need your help guys.