ESP32 & Arduino UGV Controller

Control a 2-wheel UGV using the Blynk app. An ESP32 handles Wi-Fi/Blynk communication and sends motor commands to an Arduino via serial.

🔌 Wiring Guide

ESP32 <-> Arduino:

• ESP32 TX0 (GPIO1) -> Arduino RX (Pin 0)
• ESP32 RX0 (GPIO3) -> Arduino TX (Pin 1)
• ESP32 GND -> Arduino GND (Common Ground)

Arduino -> Motor Driver:

• Arduino Pin 4 (DIR1): Motor 1 Direction
• Arduino Pin 5 (PWM1): Motor 1 Speed (PWM)
• Arduino Pin 7 (DIR2): Motor 2 Direction
• Arduino Pin 6 (PWM2): Motor 2 Speed (PWM)

Power:

• Connect ESP32 and Arduino/Motor Driver to appropriate power sources.

Serial Upload Note: Disconnect ESP32 TX/RX from Arduino Pins 0/1 when uploading to Arduino.

🛠️ Code Configuration

1. esp32.ino (ESP32 Code):

• Blynk Credentials (Lines 1-3):
  • BLYNK_TEMPLATE_ID: "YOUR_TEMPLATE_ID"
  • BLYNK_TEMPLATE_NAME: "YOUR_PROJECT_NAME"
  • BLYNK_AUTH_TOKEN: "YOUR_BLYNK_AUTH_TOKEN"
• WiFi Credentials (Lines 7-8):
  • ssid: "YOUR_WIFI_SSID"
  • pass: "YOUR_WIFI_PASSWORD"
• UGV Parameters (Optional Adjustments):
  • WHEEL_DISTANCE (Line 13): Distance between wheels in meters (e.g., 0.65).
  • MAX_LINEAR_VEL (Line 15): Expected maximum linear speed in m/s (e.g., 1.0).

2. arduino.ino (Arduino Code):

• Motor Pins (Lines 1-4):
  • Verify DIR1 (4), PWM1 (5), DIR2 (7), PWM2 (6) match your Arduino to motor driver wiring.
• Motor Control Logic (setMotor function & command parsing):
  • The code assumes one motor might need its direction inverted (int r_speed = r_dir == 0 ? -r_pwm : r_pwm;). Adjust if your motors spin correctly or incorrectly with the default logic.

📋 Requirements

• Hardware: ESP32, Arduino (Uno/Nano, etc.), Motor Driver, 2x DC Motors (UGV chassis), Jumper Wires.
• Software: Arduino IDE, Blynk Account & App.
• Libraries (ESP32): WiFi.h, BlynkSimpleEsp32.h (Install via Arduino Library Manager).

🚀 Upload & Run

1. Blynk App:
   • Create a project, get your Auth Token, Template ID & Name.
   • Add two Slider widgets:
     • One for V0 (Linear Velocity, range e.g., -1.0 to 1.0 or as needed).
     • One for V1 (Angular Velocity, range e.g., -1.0 to 1.0 or as needed).
2. Modify & Upload Code:
   • Update esp32.ino and arduino.ino as per the "Code Configuration" section.
   • Upload esp32.ino to your ESP32.
   • Upload arduino.ino to your Arduino (remember to disconnect RX/TX if using Pins 0/1).
3. Connect & Power On: Wire everything as per the "Wiring Guide".
4. Control: Open the Blynk app and use the sliders to control the UGV.

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