![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Car-Robot-Web-Server.jpg?resize=1024%2C576&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nBoards compatibility<\/strong>: this project requires 4 GPIOs to control the DC motors. So, you can use any ESP32 camera board with 4 available GPIOs like the ESP32-CAM Ai-Thinker board<\/a> or the TTGO T-Journal<\/a>. <\/p>\n\n\n\n Before starting the project, we\u2019ll highlight the most important features and components used to build the robot.<\/p>\n\n\n\n The robot will be controlled via Wi-Fi using your ESP32-CAM. We\u2019ll create a web-based interface to control the robot, that can be accessed in any device inside your local network. <\/p>\n\n\n\n The web page also shows a video streaming of what the robot \u201csees\u201d. For good results with video streaming, we recommend using an ESP32-CAM with external antenna<\/a>. <\/p>\n\n\n\n Important: <\/strong> without an external antenna the video stream lags and the web server is extremely slow to control the robot. <\/p>\n\n\n\n The web server has 5 controls: Forward<\/strong>, Backward<\/strong>, Left<\/strong>, Right<\/strong>, and Stop<\/strong>.<\/p>\n\n\n\n The robot moves as long as you\u2019re pressing the buttons. When you release any button, the robot stops. However, we\u2019ve included the Stop <\/strong>button that can be useful in case the ESP32 doesn\u2019t receive the stop command when you release a button. <\/p>\n\n\n\n We\u2019re going to use the Smart Robot Chassis Kit<\/a>. You can find it in most online stores. The kit costs around $10 and it\u2019s easy to assemble – watch this video to see how to assemble the robot chassis kit<\/a>. <\/p>\n\n\n\n You can use any other chassis kit as long as it comes with two DC motors. <\/p>\n\n\n\n There are many ways to control DC motors. We\u2019ll use the L298N motor driver that provides an easy way to control the speed and direction of 2 DC motors.<\/p>\n\n\n\n We won\u2019t explain how the L298N motor driver works. You can read the following article for an in-depth tutorial about the L298N motor driver:<\/p>\n\n\n\n To keep the circuitry simple, we’ll power the robot (motors) and the ESP32 using the same power source. We used a power bank\/portable charger (like the ones used to charge your smartphone) and it worked well.<\/p>\n\n\n\n Note: <\/strong> the motors draw a lot of current, so if you feel your robot is not moving properly, you may need to use an external power supply for the motors. This means you need two different power sources. One to power the DC motors, and the other to power the ESP32.<\/p>\n\n\n\n For this project, we\u2019ll use the following parts:<\/p>\n\n\n\n You can use the preceding links or go directly to MakerAdvisor.com\/tools<\/a> to find all the parts for your projects at the best price!<\/p> Copy the following code to your Arduino IDE.<\/p>\n\n\n View raw code<\/a><\/p>\n\n\n\n Insert your network credentials and the code should work straight away.<\/p>\n\n\n\n Let\u2019s take a look at the relevant parts to control the robot. Define the GPIOs that will control the motors. Each motor is controlled by two pins.<\/p>\n\n\n\n When you click the buttons, you make a request on a different URL.<\/p>\n\n\n\n Here\u2019s the requests made depending on the button that is being pressed:<\/p>\n\n\n\n Forward:<\/strong><\/p>\n\n\n\n Backward:<\/strong><\/p>\n\n\n\n Left:<\/strong><\/p>\n\n\n\n Right:<\/strong><\/p>\n\n\n\n Stop:<\/strong><\/p>\n\n\n\n When you release the button, a request is made on the \/action?go=stop<\/span> URL. The robot only moves as long as you\u2019re pressing the buttons.<\/p>\n\n\n\n To handle what happens when we get requests on those URLs, we use these if\u2026 else statements:<\/p>\n\n\n\n After inserting your network credentials, you can upload the code to your ESP32-CAM board. If you don’t know how to upload code to the board, follow the next tutorial:<\/p>\n\n\n\n After uploading, open the Serial Monitor to get its IP address.<\/p>\n\n\n\n Open a browser and type the ESP IP address. A similar web page should load:<\/p>\n\n\n\n Press the buttons and take a look at the Serial Monitor to see if it is streaming without lag and if it is receiving the commands without crashing.<\/p>\n\n\n\n If everything is working properly, it\u2019s time to assemble the circuit.<\/p>\n\n\n\n After assembling the robot chassis, you can wire the circuit by following the next schematic diagram.<\/p>\n\n\n\n Start by connecting the ESP32-CAM to the motor driver as shown in the schematic diagram. You can either use a mini breadboard or a stripboard to place your ESP32-CAM and build the circuit.<\/p>\n\n\n\n The following table shows the connections between the ESP32-CAM and the L298N Motor Driver.<\/p>\n\n\n\nProject Overview<\/h2>\n\n\n\n
Wi-Fi<\/h3>\n\n\n\n
![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2020\/03\/ESP32-CAM-External-Antenna.jpg?resize=750%2C424&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nRobot Controls<\/h3>\n\n\n\n
![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Web-Server-Smartphone.jpg?resize=300%2C610&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nSmart Robot Chassis Kit<\/h3>\n\n\n\n
![\"Smart](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2017\/04\/assembling_robot_chassis_13.png?resize=700%2C393&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nL298N Motor Driver <\/h3>\n\n\n\n
![\"L298N](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2018\/05\/L298N-label.jpg?resize=750%2C500&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nPower<\/h3>\n\n\n\n
![\"Portable](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/Portable-power-bank.jpg?resize=750%2C421&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nParts Required<\/h2>\n\n\n\n
![](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2017\/10\/header-200.png?w=1200&quality=100&strip=all&ssl=1\")
<\/a><\/p>\n\n\n\nCode<\/h2>\n\n\n\n
\/*********\r\n Rui Santos & Sara Santos - Random Nerd Tutorials\r\n Complete instructions at https:\/\/RandomNerdTutorials.com\/esp32-cam-projects-ebook\/\r\n Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files.\r\n The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.\r\n*********\/\r\n\r\n#include "esp_camera.h"\r\n#include <WiFi.h>\r\n#include "esp_timer.h"\r\n#include "img_converters.h"\r\n#include "Arduino.h"\r\n#include "fb_gfx.h"\r\n#include "soc\/soc.h" \/\/ disable brownout problems\r\n#include "soc\/rtc_cntl_reg.h" \/\/ disable brownout problems\r\n#include "esp_http_server.h"\r\n\r\n\/\/ Replace with your network credentials\r\nconst char* ssid = "REPLACE_WITH_YOUR_SSID";\r\nconst char* password = "REPLACE_WITH_YOUR_PASSWORD";\r\n\r\n#define PART_BOUNDARY "123456789000000000000987654321"\r\n\r\n#define CAMERA_MODEL_AI_THINKER\r\n\/\/#define CAMERA_MODEL_M5STACK_PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_WITHOUT_PSRAM\r\n\/\/#define CAMERA_MODEL_M5STACK_PSRAM_B\r\n\/\/#define CAMERA_MODEL_WROVER_KIT\r\n\r\n#if defined(CAMERA_MODEL_WROVER_KIT)\r\n #define PWDN_GPIO_NUM -1\r\n #define RESET_GPIO_NUM -1\r\n #define XCLK_GPIO_NUM 21\r\n #define SIOD_GPIO_NUM 26\r\n #define SIOC_GPIO_NUM 27\r\n \r\n #define Y9_GPIO_NUM 35\r\n #define Y8_GPIO_NUM 34\r\n #define Y7_GPIO_NUM 39\r\n #define Y6_GPIO_NUM 36\r\n #define Y5_GPIO_NUM 19\r\n #define Y4_GPIO_NUM 18\r\n #define Y3_GPIO_NUM 5\r\n #define Y2_GPIO_NUM 4\r\n #define VSYNC_GPIO_NUM 25\r\n #define HREF_GPIO_NUM 23\r\n #define PCLK_GPIO_NUM 22\r\n\r\n#elif defined(CAMERA_MODEL_M5STACK_PSRAM)\r\n #define PWDN_GPIO_NUM -1\r\n #define RESET_GPIO_NUM 15\r\n #define XCLK_GPIO_NUM 27\r\n #define SIOD_GPIO_NUM 25\r\n #define SIOC_GPIO_NUM 23\r\n \r\n #define Y9_GPIO_NUM 19\r\n #define Y8_GPIO_NUM 36\r\n #define Y7_GPIO_NUM 18\r\n #define Y6_GPIO_NUM 39\r\n #define Y5_GPIO_NUM 5\r\n #define Y4_GPIO_NUM 34\r\n #define Y3_GPIO_NUM 35\r\n #define Y2_GPIO_NUM 32\r\n #define VSYNC_GPIO_NUM 22\r\n #define HREF_GPIO_NUM 26\r\n #define PCLK_GPIO_NUM 21\r\n\r\n#elif defined(CAMERA_MODEL_M5STACK_WITHOUT_PSRAM)\r\n #define PWDN_GPIO_NUM -1\r\n #define RESET_GPIO_NUM 15\r\n #define XCLK_GPIO_NUM 27\r\n #define SIOD_GPIO_NUM 25\r\n #define SIOC_GPIO_NUM 23\r\n \r\n #define Y9_GPIO_NUM 19\r\n #define Y8_GPIO_NUM 36\r\n #define Y7_GPIO_NUM 18\r\n #define Y6_GPIO_NUM 39\r\n #define Y5_GPIO_NUM 5\r\n #define Y4_GPIO_NUM 34\r\n #define Y3_GPIO_NUM 35\r\n #define Y2_GPIO_NUM 17\r\n #define VSYNC_GPIO_NUM 22\r\n #define HREF_GPIO_NUM 26\r\n #define PCLK_GPIO_NUM 21\r\n\r\n#elif defined(CAMERA_MODEL_AI_THINKER)\r\n #define PWDN_GPIO_NUM 32\r\n #define RESET_GPIO_NUM -1\r\n #define XCLK_GPIO_NUM 0\r\n #define SIOD_GPIO_NUM 26\r\n #define SIOC_GPIO_NUM 27\r\n \r\n #define Y9_GPIO_NUM 35\r\n #define Y8_GPIO_NUM 34\r\n #define Y7_GPIO_NUM 39\r\n #define Y6_GPIO_NUM 36\r\n #define Y5_GPIO_NUM 21\r\n #define Y4_GPIO_NUM 19\r\n #define Y3_GPIO_NUM 18\r\n #define Y2_GPIO_NUM 5\r\n #define VSYNC_GPIO_NUM 25\r\n #define HREF_GPIO_NUM 23\r\n #define PCLK_GPIO_NUM 22\r\n\r\n#elif defined(CAMERA_MODEL_M5STACK_PSRAM_B)\r\n #define PWDN_GPIO_NUM -1\r\n #define RESET_GPIO_NUM 15\r\n #define XCLK_GPIO_NUM 27\r\n #define SIOD_GPIO_NUM 22\r\n #define SIOC_GPIO_NUM 23\r\n \r\n #define Y9_GPIO_NUM 19\r\n #define Y8_GPIO_NUM 36\r\n #define Y7_GPIO_NUM 18\r\n #define Y6_GPIO_NUM 39\r\n #define Y5_GPIO_NUM 5\r\n #define Y4_GPIO_NUM 34\r\n #define Y3_GPIO_NUM 35\r\n #define Y2_GPIO_NUM 32\r\n #define VSYNC_GPIO_NUM 25\r\n #define HREF_GPIO_NUM 26\r\n #define PCLK_GPIO_NUM 21\r\n\r\n#else\r\n #error "Camera model not selected"\r\n#endif\r\n\r\n#define MOTOR_1_PIN_1 14\r\n#define MOTOR_1_PIN_2 15\r\n#define MOTOR_2_PIN_1 13\r\n#define MOTOR_2_PIN_2 12\r\n\r\nstatic const char* _STREAM_CONTENT_TYPE = "multipart\/x-mixed-replace;boundary=" PART_BOUNDARY;\r\nstatic const char* _STREAM_BOUNDARY = "\\r\\n--" PART_BOUNDARY "\\r\\n";\r\nstatic const char* _STREAM_PART = "Content-Type: image\/jpeg\\r\\nContent-Length: %u\\r\\n\\r\\n";\r\n\r\nhttpd_handle_t camera_httpd = NULL;\r\nhttpd_handle_t stream_httpd = NULL;\r\n\r\nstatic const char PROGMEM INDEX_HTML[] = R"rawliteral(\r\n<html>\r\n <head>\r\n <title>ESP32-CAM Robot<\/title>\r\n <meta name="viewport" content="width=device-width, initial-scale=1">\r\n <style>\r\n body { font-family: Arial; text-align: center; margin:0px auto; padding-top: 30px;}\r\n table { margin-left: auto; margin-right: auto; }\r\n td { padding: 8 px; }\r\n .button {\r\n background-color: #2f4468;\r\n border: none;\r\n color: white;\r\n padding: 10px 20px;\r\n text-align: center;\r\n text-decoration: none;\r\n display: inline-block;\r\n font-size: 18px;\r\n margin: 6px 3px;\r\n cursor: pointer;\r\n -webkit-touch-callout: none;\r\n -webkit-user-select: none;\r\n -khtml-user-select: none;\r\n -moz-user-select: none;\r\n -ms-user-select: none;\r\n user-select: none;\r\n -webkit-tap-highlight-color: rgba(0,0,0,0);\r\n }\r\n img { width: auto ;\r\n max-width: 100% ;\r\n height: auto ; \r\n }\r\n <\/style>\r\n <\/head>\r\n <body>\r\n <h1>ESP32-CAM Robot<\/h1>\r\n <img src="" id="photo" >\r\n <table>\r\n <tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('forward');" ontouchstart="toggleCheckbox('forward');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Forward<\/button><\/td><\/tr>\r\n <tr><td align="center"><button class="button" onmousedown="toggleCheckbox('left');" ontouchstart="toggleCheckbox('left');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Left<\/button><\/td><td align="center"><button class="button" onmousedown="toggleCheckbox('stop');" ontouchstart="toggleCheckbox('stop');">Stop<\/button><\/td><td align="center"><button class="button" onmousedown="toggleCheckbox('right');" ontouchstart="toggleCheckbox('right');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Right<\/button><\/td><\/tr>\r\n <tr><td colspan="3" align="center"><button class="button" onmousedown="toggleCheckbox('backward');" ontouchstart="toggleCheckbox('backward');" onmouseup="toggleCheckbox('stop');" ontouchend="toggleCheckbox('stop');">Backward<\/button><\/td><\/tr> \r\n <\/table>\r\n <script>\r\n function toggleCheckbox(x) {\r\n var xhr = new XMLHttpRequest();\r\n xhr.open("GET", "\/action?go=" + x, true);\r\n xhr.send();\r\n }\r\n window.onload = document.getElementById("photo").src = window.location.href.slice(0, -1) + ":81\/stream";\r\n <\/script>\r\n <\/body>\r\n<\/html>\r\n)rawliteral";\r\n\r\nstatic esp_err_t index_handler(httpd_req_t *req){\r\n httpd_resp_set_type(req, "text\/html");\r\n return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));\r\n}\r\n\r\nstatic esp_err_t stream_handler(httpd_req_t *req){\r\n camera_fb_t * fb = NULL;\r\n esp_err_t res = ESP_OK;\r\n size_t _jpg_buf_len = 0;\r\n uint8_t * _jpg_buf = NULL;\r\n char * part_buf[64];\r\n\r\n res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);\r\n if(res != ESP_OK){\r\n return res;\r\n }\r\n\r\n while(true){\r\n fb = esp_camera_fb_get();\r\n if (!fb) {\r\n Serial.println("Camera capture failed");\r\n res = ESP_FAIL;\r\n } else {\r\n if(fb->width > 400){\r\n if(fb->format != PIXFORMAT_JPEG){\r\n bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);\r\n esp_camera_fb_return(fb);\r\n fb = NULL;\r\n if(!jpeg_converted){\r\n Serial.println("JPEG compression failed");\r\n res = ESP_FAIL;\r\n }\r\n } else {\r\n _jpg_buf_len = fb->len;\r\n _jpg_buf = fb->buf;\r\n }\r\n }\r\n }\r\n if(res == ESP_OK){\r\n size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);\r\n res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);\r\n }\r\n if(res == ESP_OK){\r\n res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);\r\n }\r\n if(res == ESP_OK){\r\n res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));\r\n }\r\n if(fb){\r\n esp_camera_fb_return(fb);\r\n fb = NULL;\r\n _jpg_buf = NULL;\r\n } else if(_jpg_buf){\r\n free(_jpg_buf);\r\n _jpg_buf = NULL;\r\n }\r\n if(res != ESP_OK){\r\n break;\r\n }\r\n \/\/Serial.printf("MJPG: %uB\\n",(uint32_t)(_jpg_buf_len));\r\n }\r\n return res;\r\n}\r\n\r\nstatic esp_err_t cmd_handler(httpd_req_t *req){\r\n char* buf;\r\n size_t buf_len;\r\n char variable[32] = {0,};\r\n \r\n buf_len = httpd_req_get_url_query_len(req) + 1;\r\n if (buf_len > 1) {\r\n buf = (char*)malloc(buf_len);\r\n if(!buf){\r\n httpd_resp_send_500(req);\r\n return ESP_FAIL;\r\n }\r\n if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {\r\n if (httpd_query_key_value(buf, "go", variable, sizeof(variable)) == ESP_OK) {\r\n } else {\r\n free(buf);\r\n httpd_resp_send_404(req);\r\n return ESP_FAIL;\r\n }\r\n } else {\r\n free(buf);\r\n httpd_resp_send_404(req);\r\n return ESP_FAIL;\r\n }\r\n free(buf);\r\n } else {\r\n httpd_resp_send_404(req);\r\n return ESP_FAIL;\r\n }\r\n\r\n sensor_t * s = esp_camera_sensor_get();\r\n int res = 0;\r\n \r\n if(!strcmp(variable, "forward")) {\r\n Serial.println("Forward");\r\n digitalWrite(MOTOR_1_PIN_1, 1);\r\n digitalWrite(MOTOR_1_PIN_2, 0);\r\n digitalWrite(MOTOR_2_PIN_1, 1);\r\n digitalWrite(MOTOR_2_PIN_2, 0);\r\n }\r\n else if(!strcmp(variable, "left")) {\r\n Serial.println("Left");\r\n digitalWrite(MOTOR_1_PIN_1, 0);\r\n digitalWrite(MOTOR_1_PIN_2, 1);\r\n digitalWrite(MOTOR_2_PIN_1, 1);\r\n digitalWrite(MOTOR_2_PIN_2, 0);\r\n }\r\n else if(!strcmp(variable, "right")) {\r\n Serial.println("Right");\r\n digitalWrite(MOTOR_1_PIN_1, 1);\r\n digitalWrite(MOTOR_1_PIN_2, 0);\r\n digitalWrite(MOTOR_2_PIN_1, 0);\r\n digitalWrite(MOTOR_2_PIN_2, 1);\r\n }\r\n else if(!strcmp(variable, "backward")) {\r\n Serial.println("Backward");\r\n digitalWrite(MOTOR_1_PIN_1, 0);\r\n digitalWrite(MOTOR_1_PIN_2, 1);\r\n digitalWrite(MOTOR_2_PIN_1, 0);\r\n digitalWrite(MOTOR_2_PIN_2, 1);\r\n }\r\n else if(!strcmp(variable, "stop")) {\r\n Serial.println("Stop");\r\n digitalWrite(MOTOR_1_PIN_1, 0);\r\n digitalWrite(MOTOR_1_PIN_2, 0);\r\n digitalWrite(MOTOR_2_PIN_1, 0);\r\n digitalWrite(MOTOR_2_PIN_2, 0);\r\n }\r\n else {\r\n res = -1;\r\n }\r\n\r\n if(res){\r\n return httpd_resp_send_500(req);\r\n }\r\n\r\n httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");\r\n return httpd_resp_send(req, NULL, 0);\r\n}\r\n\r\nvoid startCameraServer(){\r\n httpd_config_t config = HTTPD_DEFAULT_CONFIG();\r\n config.server_port = 80;\r\n httpd_uri_t index_uri = {\r\n .uri = "\/",\r\n .method = HTTP_GET,\r\n .handler = index_handler,\r\n .user_ctx = NULL\r\n };\r\n\r\n httpd_uri_t cmd_uri = {\r\n .uri = "\/action",\r\n .method = HTTP_GET,\r\n .handler = cmd_handler,\r\n .user_ctx = NULL\r\n };\r\n httpd_uri_t stream_uri = {\r\n .uri = "\/stream",\r\n .method = HTTP_GET,\r\n .handler = stream_handler,\r\n .user_ctx = NULL\r\n };\r\n if (httpd_start(&camera_httpd, &config) == ESP_OK) {\r\n httpd_register_uri_handler(camera_httpd, &index_uri);\r\n httpd_register_uri_handler(camera_httpd, &cmd_uri);\r\n }\r\n config.server_port += 1;\r\n config.ctrl_port += 1;\r\n if (httpd_start(&stream_httpd, &config) == ESP_OK) {\r\n httpd_register_uri_handler(stream_httpd, &stream_uri);\r\n }\r\n}\r\n\r\nvoid setup() {\r\n WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); \/\/disable brownout detector\r\n \r\n pinMode(MOTOR_1_PIN_1, OUTPUT);\r\n pinMode(MOTOR_1_PIN_2, OUTPUT);\r\n pinMode(MOTOR_2_PIN_1, OUTPUT);\r\n pinMode(MOTOR_2_PIN_2, OUTPUT);\r\n \r\n Serial.begin(115200);\r\n Serial.setDebugOutput(false);\r\n \r\n camera_config_t config;\r\n config.ledc_channel = LEDC_CHANNEL_0;\r\n config.ledc_timer = LEDC_TIMER_0;\r\n config.pin_d0 = Y2_GPIO_NUM;\r\n config.pin_d1 = Y3_GPIO_NUM;\r\n config.pin_d2 = Y4_GPIO_NUM;\r\n config.pin_d3 = Y5_GPIO_NUM;\r\n config.pin_d4 = Y6_GPIO_NUM;\r\n config.pin_d5 = Y7_GPIO_NUM;\r\n config.pin_d6 = Y8_GPIO_NUM;\r\n config.pin_d7 = Y9_GPIO_NUM;\r\n config.pin_xclk = XCLK_GPIO_NUM;\r\n config.pin_pclk = PCLK_GPIO_NUM;\r\n config.pin_vsync = VSYNC_GPIO_NUM;\r\n config.pin_href = HREF_GPIO_NUM;\r\n config.pin_sccb_sda = SIOD_GPIO_NUM;\r\n config.pin_sccb_scl = SIOC_GPIO_NUM;\r\n config.pin_pwdn = PWDN_GPIO_NUM;\r\n config.pin_reset = RESET_GPIO_NUM;\r\n config.xclk_freq_hz = 20000000;\r\n config.pixel_format = PIXFORMAT_JPEG; \r\n \r\n if(psramFound()){\r\n config.frame_size = FRAMESIZE_VGA;\r\n config.jpeg_quality = 10;\r\n config.fb_count = 2;\r\n } else {\r\n config.frame_size = FRAMESIZE_SVGA;\r\n config.jpeg_quality = 12;\r\n config.fb_count = 1;\r\n }\r\n \r\n \/\/ Camera init\r\n esp_err_t err = esp_camera_init(&config);\r\n if (err != ESP_OK) {\r\n Serial.printf("Camera init failed with error 0x%x", err);\r\n return;\r\n }\r\n \/\/ Wi-Fi connection\r\n WiFi.begin(ssid, password);\r\n while (WiFi.status() != WL_CONNECTED) {\r\n delay(500);\r\n Serial.print(".");\r\n }\r\n Serial.println("");\r\n Serial.println("WiFi connected");\r\n \r\n Serial.print("Camera Stream Ready! Go to: http:\/\/");\r\n Serial.println(WiFi.localIP());\r\n \r\n \/\/ Start streaming web server\r\n startCameraServer();\r\n}\r\n\r\nvoid loop() {\r\n \r\n}\r\n<\/code><\/pre>\n\tconst char* ssid = \"REPLACE_WITH_YOUR_SSID\"; \nconst char* password = \"REPLACE_WITH_YOUR_PASSWORD\";<\/code><\/pre>\n\n\n\nHow the Code Works<\/h3>\n\n\n\n
#define MOTOR_1_PIN_1 14\n#define MOTOR_1_PIN_2 15\n#define MOTOR_2_PIN_1 13\n#define MOTOR_2_PIN_2 12<\/code><\/pre>\n\n\n\n<table>\n <tr><td colspan=\"3\" align=\"center\"><button class=\"button\" onmousedown=\"toggleCheckbox('forward');\" ontouchstart=\"toggleCheckbox('forward');\" onmouseup=\"toggleCheckbox('stop');\" ontouchend=\"toggleCheckbox('stop');\">Forward<\/button><\/td><\/tr>\n <tr><td align=\"center\"><button class=\"button\" onmousedown=\"toggleCheckbox('left');\" ontouchstart=\"toggleCheckbox('left');\" onmouseup=\"toggleCheckbox('stop');\" ontouchend=\"toggleCheckbox('stop');\">Left<\/button><\/td><td align=\"center\"><button class=\"button\" onmousedown=\"toggleCheckbox('stop');\" ontouchstart=\"toggleCheckbox('stop');\">Stop<\/button><\/td><td align=\"center\"><button class=\"button\" onmousedown=\"toggleCheckbox('right');\" ontouchstart=\"toggleCheckbox('right');\" onmouseup=\"toggleCheckbox('stop');\" ontouchend=\"toggleCheckbox('stop');\">Right<\/button><\/td><\/tr>\n <tr><td colspan=\"3\" align=\"center\"><button class=\"button\" onmousedown=\"toggleCheckbox('backward');\" ontouchstart=\"toggleCheckbox('backward');\" onmouseup=\"toggleCheckbox('stop');\" ontouchend=\"toggleCheckbox('stop');\">Backward<\/button><\/td><\/tr> \n<\/table>\n<script>\n function toggleCheckbox(x) {\n var xhr = new XMLHttpRequest();\n xhr.open(\"GET\", \"\/action?go=\" + x, true);\n xhr.send();\n }\n window.onload = document.getElementById(\"photo\").src = window.location.href.slice(0, -1) + \":81\/stream\";\n<\/script><\/code><\/pre>\n\n\n\n<ESP_IP_ADDRESS>\/action?go=forward<\/code><\/pre>\n\n\n\n\/action?go=backward<\/code><\/pre>\n\n\n\n\/action?go=left<\/code><\/pre>\n\n\n\n\/action?go=right<\/code><\/pre>\n\n\n\n\/action?go=stop<\/code><\/pre>\n\n\n\nHandle Requests<\/h3>\n\n\n\n
if(!strcmp(variable, \"forward\")) {\n Serial.println(\"Forward\");\n digitalWrite(MOTOR_1_PIN_1, 1);\n digitalWrite(MOTOR_1_PIN_2, 0);\n digitalWrite(MOTOR_2_PIN_1, 1);\n digitalWrite(MOTOR_2_PIN_2, 0);\n }\n else if(!strcmp(variable, \"left\")) {\n Serial.println(\"Left\");\n digitalWrite(MOTOR_1_PIN_1, 0);\n digitalWrite(MOTOR_1_PIN_2, 1);\n digitalWrite(MOTOR_2_PIN_1, 1);\n digitalWrite(MOTOR_2_PIN_2, 0);\n}\nelse if(!strcmp(variable, \"right\")) {\n Serial.println(\"Right\");\n digitalWrite(MOTOR_1_PIN_1, 1);\n digitalWrite(MOTOR_1_PIN_2, 0);\n digitalWrite(MOTOR_2_PIN_1, 0);\n digitalWrite(MOTOR_2_PIN_2, 1);\n}\nelse if(!strcmp(variable, \"backward\")) {\n Serial.println(\"Backward\");\n digitalWrite(MOTOR_1_PIN_1, 0);\n digitalWrite(MOTOR_1_PIN_2, 1);\n digitalWrite(MOTOR_2_PIN_1, 0);\n digitalWrite(MOTOR_2_PIN_2, 1);\n}\nelse if(!strcmp(variable, \"stop\")) {\n Serial.println(\"Stop\");\n digitalWrite(MOTOR_1_PIN_1, 0);\n digitalWrite(MOTOR_1_PIN_2, 0);\n digitalWrite(MOTOR_2_PIN_1, 0);\n digitalWrite(MOTOR_2_PIN_2, 0);\n}<\/code><\/pre>\n\n\n\nTesting the Code<\/h2>\n\n\n\n
![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Getting-IP-Address-Serial-Monitor.png?resize=742%2C433&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Web-Server-Video-Streaming-2.jpg?resize=1036%2C834&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Robot-Receice-Commands-Serial-Monitor.png?resize=769%2C541&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\nCircuit<\/h2>\n\n\n\n
![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Diagram.png?resize=1024%2C780&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n
![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Wiring-Stripboard-f.jpg?resize=750%2C421&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Assembled.jpg?resize=750%2C421&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n![\"ESP32-CAM](\"https:\/\/i0.wp.com\/randomnerdtutorials.com\/wp-content\/uploads\/2021\/01\/ESP32-CAM-Remote-Controlled-Robot-Web-Server-Smartphone-Demonstration.jpg?resize=750%2C510&quality=100&strip=all&ssl=1\")
<\/figure><\/div>\n\n\n\n