Rover Project

This README outlines the components, pin connections, and functionality of the rover system implemented using an ESP32 microcontroller.

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Components

1. ESP32 Microcontroller - Controls the rover's logic and communication.
2. L293D Motor Driver - Drives the left and right motors.
3. DHT11 Sensor - Measures temperature and humidity.
4. MQ135 Gas Sensor - Detects air quality.
5. HC-SR04 Ultrasonic Sensor - Measures distance to detect obstacles.
6. LDR (Light Dependent Resistor) - Measures ambient light levels.
7. LEDs - Includes a warning LED and headlights.

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Pin Connections

Motor Driver (L293D)

• Motor Left Forward: GPIO 18 (L293D Pin 2)
• Motor Left Backward: GPIO 19 (L293D Pin 7)
• Motor Left Enable: GPIO 32 (L293D Pin 1)
• Motor Right Forward: GPIO 22 (L293D Pin 10)
• Motor Right Backward: GPIO 23 (L293D Pin 15)
• Motor Right Enable: GPIO 33 (L293D Pin 9)

Sensors

• DHT11 Sensor: GPIO 21 (Data Pin)
• MQ135 Gas Sensor: GPIO 34 (Analog Input)
• HC-SR04 Ultrasonic Sensor:
  • Trigger: GPIO 13
  • Echo: GPIO 14
• LDR (Light Dependent Resistor): GPIO 35 (Analog Input)

LEDs

• Warning LED: GPIO 27
• Headlight LED: GPIO 25

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Constants

• Obstacle Threshold: 15 cm (for ultrasonic sensor)
• Blink Interval: 500 ms (for warning LED)
• LDR Threshold: 30 (adjust based on calibration)
• Left Motor Speed: 255 (maximum speed)
• Right Motor Speed: 140 (calibrated for straight movement)

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Functionality

1. Sensor Data Collection

The system periodically reads data from the DHT11, MQ135, LDR, and HC-SR04 sensors:

• DHT11: Measures temperature and humidity.
• MQ135: Reads air quality levels.
• HC-SR04: Detects obstacles by measuring distance.
• LDR: Detects ambient light levels to control headlights.

2. Obstacle Detection

• Uses HC-SR04 to measure distance.
• If an obstacle is detected within 15 cm, the rover stops moving.

3. Warning LED Behavior

• Blinks if an obstacle is detected while moving forward.
• Remains solid if the rover is stationary near an obstacle.

4. Headlight Control

• Turns on headlights if ambient light levels fall below the LDR threshold.

5. Motor Control

• Motors are controlled based on commands received (Forward, Backward, Left, Right, or Stop).

6. ESP-NOW Communication

• Send Sensor Data: Periodically sends sensor data to a paired remote device.
• Receive Commands: Processes movement commands from a paired remote device.

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How to Use

1. Setup Connections: Wire all components as per the pin connections listed above.
2. Upload Code: Flash the provided code to the ESP32 using Arduino IDE or PlatformIO.
3. Calibrate Sensors: Adjust thresholds for LDR and MQ135 as needed.
4. Pair Devices: Pair the ESP32 rover with the remote device using ESP-NOW.
5. Test Functionality: Verify motor movements, sensor readings, and communication.

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Notes

• Ensure the ESP32 is powered adequately to drive all components.
• Calibrate the MQ135 and LDR for optimal performance.
• For better obstacle detection, ensure HC-SR04 has a clear field of view.

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Troubleshooting

1. Motors Not Moving:

   • Check motor connections to the L293D driver.
   • Verify motor enable pins are configured correctly.

2. Sensors Not Reading:

   • Ensure proper wiring and pin configurations.
   • Use a multimeter to check power supply to the sensors.

3. ESP-NOW Communication Issues:

   • Verify the MAC address of the paired remote device.
   • Check Wi-Fi settings and reinitialize ESP-NOW.

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Future Improvements

• Add camera for video streaming.
• Implement GPS for location tracking.
• Add a solar panel for extended outdoor use.

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Enjoy building and customizing your rover! 🚀

Controller repo: https://github.com/itsfuad/Rover-Controller