kzyred / esp32_line_follow

Line Follow Robot with ESP32 (by SGT)

Welcome to the Line Follow Robot repository, where we've developed a simple line-following robot using an ESP32 microcontroller. This robot employs 5 infrared sensors to track lines on the ground. The core control algorithm leverages a PID controller, enabling the robot to follow lines with precision.

Hardware Components

• Microcontroller: ESP32
• Sensors: 5 Infrared Sensors
• Actuators:
  • ZK-5AD Motor Driver
  • 2 N20 Motors

Algorithm

The line-following algorithm is powered by a Proportional-Integral-Derivative (PID) controller. The PID controller dynamically adjusts motor PWM signals based on error calculations from sensor readings, thus ensuring the robot stays on its intended path.

Development Environment

The code for this project was developed using PlatformIO on Visual Studio Code.

Project Structure

ESP32_line_follow/
├── lib/
│   ├── ESP32_Motor_Controller/
│   │   ├── esp32_motor.h: Defines the class for controlling motors using the ESP32's LEDC module.
│   │   └── esp32_motor.cpp
│   ├── Line_status/
│   │   ├── line_status.h: Defines the class to manage infrared line sensor status.
│   │   └── line_status.cpp
│   └── PID_controller/
│       ├── PIDcontroller.h: Defines the class for the PID controller.
│       └── PIDcontroller.cpp
├── src/
│   ├── main.cpp: The main code that initializes motors, sensors, and PID controller.
│   └── main.h: Contains constants and configurations used throughout the project.
└── platformio.ini: Configuration file for PlatformIO.

Folders Descriptions

ESP32_Motor_Controller

This library encapsulates motor control for the ESP32 microcontroller. The esp32_motor.h header file defines the esp32_motor class, which provides methods for running, stopping, and configuring motors.

Line_status

The line_status library manages the status of infrared line sensors. The line_status.h header file defines the line_status class, including methods for updating sensor status and calculating line position error.

PID_controller

This library handles the PID controller. The PIDcontroller.h header file defines the PIDcontroller class, which calculates PID output based on error values.

Code Components

esp32_motor.h

This header file defines the esp32_motor class, allowing control of motors using the ESP32's LEDC module. It includes methods for running, stopping, and configuring motors.

line_status.h

This header file defines the line_status class, used to manage infrared line sensor status. It provides methods to update sensor status and calculate the line position error.

PIDcontroller.h

This header file defines the PIDcontroller class for the PID controller. It calculates the PID output based on error values.

platformio.ini

The platformio.ini file configures the PlatformIO environment for the ESP32 project. It specifies the target board, platform, framework, and upload speed.

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For more detailed explanations, please refer to the individual code files, headers, and comments within.