Arduino based WiFi mobile robot with pan & tilt camera

This mobile robot with on-board pan & tilt camera can be controlled remotely from a host PC without the need to follow it.

Aug 24, 2022

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Components and supplies

9V to 12V battery

Robot Base Frame / Chassis

Jumper wires (generic)

ESP32 Camera Module

SG90 Micro-servo motor

12V to 5V Step Down DC Converter

Geared DC Motor, 12 V

Arduino Nano RP2040 Connect

Pan-Tilt HAT

Apps and platforms

Computer Aided Simulation Program (CASP)

Project description

Code

Source Code For Remote Control Car custom block used in the Native Model of this project

c_cpp

This custom block generates required control signals when user presses certain keys for controlling the movements of the robot. User can take a look at the configuration and source code of the block and learn how to integrate the block in a CASP model along with other blocks.

1//Header file code
2
3/************************CASP_COPYRIGHT**********************************
4**   Copyright (c) AadhunikLabs. All rights reserved.
5** This file is part of CASP.
6**   Licensees holding valid licenses may use this file in accordance
7** with the   license agreement provided with the software.
8*************************************************************************/
9#ifndef   REMCARMANUAL927823855_H
10#define REMCARMANUAL927823855_H
11
12#include "sim_common_definitions.h"
13
14#define   UPDATE_INTERVAL 10UL//in milli secs
15
16class SHARED_LIB_TYPE RemCarManual927823855
17{
18public:
19     RemCarManual927823855();
20    ~RemCarManual927823855();
21    void Initialize(const   volatile BLOCK_CONSTRUCTOR_PARAM_STRUCT *arg);
22    void PreRun(const volatile   GLOBAL_PRERUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out,   _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out);
23     void Run(const volatile GLOBAL_RUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT   *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT   *h_angle_out, _FLOAT *v_angle_out);
24    void RunPlotStep(const volatile GLOBAL_RUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out);
25    void PostRun(const   volatile GLOBAL_POSTRUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32   *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT   *v_angle_out);
26public:
27    //port variable declaration
28    //port dimension   and size declaration
29    //block internal parameter variable declaration
30     _FLOAT base_speed, min_speed, max_speed, speed_step;
31    _FLOAT rotate_speed;
32     _FLOAT head_speed[2];
33    _FLOAT head_hangle[3], head_vangle[3];//min,max,def
34     _BYTE head_control;
35    //block internal initial condition variable declaration
36private:
37     _FLOAT rotate_speed_inc, rotate_speed_dec;
38    _BOOLEAN m_head_speed_reverse[2];
39     int m_init_mouse_pos[2];//during last head movement
40    int m_prev_mouse_pos[2];//prev   position
41    _UINT64 m_update_count;
42};
43
44#endif
45
46//CPP file code
47
48/************************CASP_COPYRIGHT**********************************
49**   Copyright (c) AadhunikLabs. All rights reserved.
50** This file is part of CASP.
51**   Licensees holding valid licenses may use this file in accordance
52** with the   license agreement provided with the software.
53*************************************************************************/
54#include   "RemCarManual927823855.h"
55#include "math.h"
56#include "simcode.h"
57
58RemCarManual927823855::RemCarManual927823855(){
59}
60
61RemCarManual927823855::~RemCarManual927823855(){
62}
63
64void   RemCarManual927823855::Initialize(const volatile BLOCK_CONSTRUCTOR_PARAM_STRUCT   *arg){
65}
66
67void RemCarManual927823855::PreRun(const volatile GLOBAL_PRERUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
68    m_init_mouse_pos[0]   = kb_in[257];
69    m_init_mouse_pos[1] = kb_in[258];
70    m_prev_mouse_pos[0]   = kb_in[257];
71    m_prev_mouse_pos[1] = kb_in[258];
72    //
73    *l_speed_out   = 0;
74    *l_dir_out = 1;
75    *r_speed_out = 0;
76    *r_dir_out = 1;
77     //
78    *v_angle_out = head_vangle[2];
79    *h_angle_out = head_hangle[2];
80     //
81    rotate_speed_inc = 1.0f+(rotate_speed/100.0f);
82    rotate_speed_dec   = 1.0f-(rotate_speed/100.0f);
83    speed_step = speed_step/100.0f;
84    m_update_count   = arg->rt_clk_tick;
85    //
86    for(int i=0; i<2; ++i)
87    {
88        m_head_speed_reverse[i]   = (head_speed[i] < 0)?1:0;
89        head_speed[i] = (head_speed[i] < 0)?-head_speed[i]:head_speed[i];
90     }
91}
92
93void RemCarManual927823855::Run(const volatile GLOBAL_RUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
94    if(arg->rt_clk_tick-m_update_count   < UPDATE_INTERVAL*1000)
95        return;
96    m_update_count = arg->rt_clk_tick;
97     //
98    *l_speed_out = 0;
99    *r_speed_out = 0;
100    *l_dir_out = 1;
101     *r_dir_out = 1;
102    //adjust speed
103    if(kb_in[34])//pg down
104    {
105         _FLOAT val = base_speed * (1.0f-speed_step);
106        if(val > min_speed)
107             base_speed = val;
108    }
109    else if(kb_in[33])//pg up
110    {
111         _FLOAT val = base_speed * (1.0f+speed_step);
112        if(val < max_speed)
113             base_speed = val;
114    }
115    //forward and backward
116    if(kb_in[87])//W-forward
117     {
118        *l_speed_out = *r_speed_out = base_speed;
119        if(kb_in[65])//A-left
120         {
121            *l_speed_out *= rotate_speed_dec;
122            *r_speed_out   *= rotate_speed_inc;
123        }
124        else if(kb_in[68])//D-right
125        {
126             *l_speed_out *= rotate_speed_inc;
127            *r_speed_out *= rotate_speed_dec;
128         }
129        //check limits
130        if(*l_speed_out > max_speed)
131             *l_speed_out = max_speed;
132        else if(*l_speed_out < min_speed)
133             *l_speed_out = min_speed;
134        if(*r_speed_out > max_speed)
135             *r_speed_out = max_speed;
136        else if(*r_speed_out < min_speed)
137             *r_speed_out = min_speed;
138        //
139        *l_dir_out = 1;
140         *r_dir_out = 0;
141    }
142    else if(kb_in[83])//S-reverse
143    {
144         *l_speed_out = *r_speed_out = base_speed;
145        if(kb_in[65])//A-left
146         {
147            *l_speed_out *= rotate_speed_dec;
148            *r_speed_out   *= rotate_speed_inc;
149        }
150        else if(kb_in[68])//D-right
151        {
152             *l_speed_out *= rotate_speed_inc;
153            *r_speed_out *= rotate_speed_dec;
154         }
155        //check limits
156        if(*l_speed_out > max_speed)
157             *l_speed_out = max_speed;
158        else if(*l_speed_out < min_speed)
159             *l_speed_out = min_speed;
160        if(*r_speed_out > max_speed)
161             *r_speed_out = max_speed;
162        else if(*r_speed_out < min_speed)
163             *r_speed_out = min_speed;
164        //
165        *l_dir_out = 0;
166         *r_dir_out = 1;
167    }
168    //if no forward or reverse pressed. then   rotate on center
169    else//if(kb_in[87] == 0 && kb_in[83] == 0)
170    {
171         if(kb_in[65])//A-left
172        {
173            *l_speed_out = *r_speed_out   = base_speed;
174            *l_dir_out = 0;
175            *r_dir_out = 0;
176         }
177        else if(kb_in[68])//D-right
178        {
179            *l_speed_out   = *r_speed_out = base_speed;
180            *l_dir_out = 1;
181            *r_dir_out   = 1;
182        }
183    }
184    //head rotation
185    if(head_control == 1)//from   mouse
186    {
187        int x = kb_in[257];
188        int y = kb_in[258];
189         int diffx = x - m_init_mouse_pos[0];
190        int diffy = y - m_init_mouse_pos[1];
191         if(diffx != 0)
192        {
193            //if(x == m_prev_mouse_pos[0])//user   stabilized mouse position. move head
194            {
195                if(kb_in[256]   & 0b10)//if right button pressed then only move mouse
196                {
197                    if(m_head_speed_reverse[0])
198                         *h_angle_out += (diffx * head_speed[0] * 0.1);
199                    else
200                         *h_angle_out -= (diffx * head_speed[0] * 0.1);
201                    if(*h_angle_out   < head_hangle[0])
202                        *h_angle_out = head_hangle[0];
203                     else if(*h_angle_out > head_hangle[1])
204                        *h_angle_out   = head_hangle[1];
205                }
206                m_init_mouse_pos[0] =   x;
207            }
208        }
209        if(diffy != 0)
210        {
211            //if(y   == m_prev_mouse_pos[1])//user stabilized mouse position. move head
212            {
213                 if(kb_in[256] & 0b10)//if right button pressed then only move mouse
214                 {
215                    if(m_head_speed_reverse[1])
216                        *v_angle_out   -= (diffy * head_speed[1] * 0.1);
217                    else
218                        *v_angle_out   += (diffy * head_speed[1] * 0.1);
219                    if(*v_angle_out < head_vangle[0])
220                         *v_angle_out = head_vangle[0];
221                    else   if(*v_angle_out > head_vangle[1])
222                        *v_angle_out = head_vangle[1];
223                 }
224                m_init_mouse_pos[1] = y;
225            }
226         }
227        m_prev_mouse_pos[0] = x;
228        m_prev_mouse_pos[1] = y;
229     }
230    else//from arrow keys
231    {
232        //37-left, 38-up,39-right,40-bottom
233         if((kb_in[37] && m_head_speed_reverse[0] == false) || (kb_in[39] && m_head_speed_reverse[0]   == true))
234        {
235            *h_angle_out += (head_speed[0]);
236            if(*h_angle_out   > head_hangle[1])
237                *h_angle_out = head_hangle[1];
238        }
239         else if((kb_in[39] && m_head_speed_reverse[0] == false) || (kb_in[37] &&   m_head_speed_reverse[0] == true))
240        {
241            *h_angle_out += (-head_speed[0]);
242             if(*h_angle_out < head_hangle[0])
243                *h_angle_out =   head_hangle[0];
244        }
245        if((kb_in[38] && m_head_speed_reverse[1]   == false) || (kb_in[40] && m_head_speed_reverse[1] == true))
246        {
247            *v_angle_out   += (-head_speed[1]);
248            if(*v_angle_out < head_vangle[0])
249                *v_angle_out   = head_vangle[0];
250        }
251        else if((kb_in[40] && m_head_speed_reverse[1]   == false) || (kb_in[38] && m_head_speed_reverse[1] == true))
252        {
253            *v_angle_out   += (head_speed[1]);
254            if(*v_angle_out > head_vangle[1])
255                *v_angle_out   = head_vangle[1];
256        }
257    }
258    //center horizontal and vertical   heads when G is pressed
259    if(kb_in[71])
260    {
261        *h_angle_out =   head_hangle[2];
262        *v_angle_out = head_vangle[2];
263    }
264}
265
266void   RemCarManual927823855::RunPlotStep(const volatile GLOBAL_RUN_PARAM_STRUCT *arg,   _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out, _INT32   *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
267    Run(arg, kb_in, l_speed_out,   l_dir_out, r_speed_out, r_dir_out, h_angle_out, v_angle_out);
268}
269
270void RemCarManual927823855::PostRun(const   volatile GLOBAL_POSTRUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32   *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT   *v_angle_out){
271}

//Header file code

/************************CASP_COPYRIGHT**********************************
**   Copyright (c) AadhunikLabs. All rights reserved.
** This file is part of CASP.
**   Licensees holding valid licenses may use this file in accordance
** with the   license agreement provided with the software.
*************************************************************************/
#ifndef   REMCARMANUAL927823855_H
#define REMCARMANUAL927823855_H

#include "sim_common_definitions.h"

#define   UPDATE_INTERVAL 10UL//in milli secs

class SHARED_LIB_TYPE RemCarManual927823855
{
public:
     RemCarManual927823855();
    ~RemCarManual927823855();
    void Initialize(const   volatile BLOCK_CONSTRUCTOR_PARAM_STRUCT *arg);
    void PreRun(const volatile   GLOBAL_PRERUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out,   _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out);
     void Run(const volatile GLOBAL_RUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT   *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT   *h_angle_out, _FLOAT *v_angle_out);
    void RunPlotStep(const volatile GLOBAL_RUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out);
    void PostRun(const   volatile GLOBAL_POSTRUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32   *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT   *v_angle_out);
public:
    //port variable declaration
    //port dimension   and size declaration
    //block internal parameter variable declaration
     _FLOAT base_speed, min_speed, max_speed, speed_step;
    _FLOAT rotate_speed;
     _FLOAT head_speed[2];
    _FLOAT head_hangle[3], head_vangle[3];//min,max,def
     _BYTE head_control;
    //block internal initial condition variable declaration
private:
     _FLOAT rotate_speed_inc, rotate_speed_dec;
    _BOOLEAN m_head_speed_reverse[2];
     int m_init_mouse_pos[2];//during last head movement
    int m_prev_mouse_pos[2];//prev   position
    _UINT64 m_update_count;
};

#endif

//CPP file code

/************************CASP_COPYRIGHT**********************************
**   Copyright (c) AadhunikLabs. All rights reserved.
** This file is part of CASP.
**   Licensees holding valid licenses may use this file in accordance
** with the   license agreement provided with the software.
*************************************************************************/
#include   "RemCarManual927823855.h"
#include "math.h"
#include "simcode.h"

RemCarManual927823855::RemCarManual927823855(){
}

RemCarManual927823855::~RemCarManual927823855(){
}

void   RemCarManual927823855::Initialize(const volatile BLOCK_CONSTRUCTOR_PARAM_STRUCT   *arg){
}

void RemCarManual927823855::PreRun(const volatile GLOBAL_PRERUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
    m_init_mouse_pos[0]   = kb_in[257];
    m_init_mouse_pos[1] = kb_in[258];
    m_prev_mouse_pos[0]   = kb_in[257];
    m_prev_mouse_pos[1] = kb_in[258];
    //
    *l_speed_out   = 0;
    *l_dir_out = 1;
    *r_speed_out = 0;
    *r_dir_out = 1;
     //
    *v_angle_out = head_vangle[2];
    *h_angle_out = head_hangle[2];
     //
    rotate_speed_inc = 1.0f+(rotate_speed/100.0f);
    rotate_speed_dec   = 1.0f-(rotate_speed/100.0f);
    speed_step = speed_step/100.0f;
    m_update_count   = arg->rt_clk_tick;
    //
    for(int i=0; i<2; ++i)
    {
        m_head_speed_reverse[i]   = (head_speed[i] < 0)?1:0;
        head_speed[i] = (head_speed[i] < 0)?-head_speed[i]:head_speed[i];
     }
}

void RemCarManual927823855::Run(const volatile GLOBAL_RUN_PARAM_STRUCT   *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out,   _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
    if(arg->rt_clk_tick-m_update_count   < UPDATE_INTERVAL*1000)
        return;
    m_update_count = arg->rt_clk_tick;
     //
    *l_speed_out = 0;
    *r_speed_out = 0;
    *l_dir_out = 1;
     *r_dir_out = 1;
    //adjust speed
    if(kb_in[34])//pg down
    {
         _FLOAT val = base_speed * (1.0f-speed_step);
        if(val > min_speed)
             base_speed = val;
    }
    else if(kb_in[33])//pg up
    {
         _FLOAT val = base_speed * (1.0f+speed_step);
        if(val < max_speed)
             base_speed = val;
    }
    //forward and backward
    if(kb_in[87])//W-forward
     {
        *l_speed_out = *r_speed_out = base_speed;
        if(kb_in[65])//A-left
         {
            *l_speed_out *= rotate_speed_dec;
            *r_speed_out   *= rotate_speed_inc;
        }
        else if(kb_in[68])//D-right
        {
             *l_speed_out *= rotate_speed_inc;
            *r_speed_out *= rotate_speed_dec;
         }
        //check limits
        if(*l_speed_out > max_speed)
             *l_speed_out = max_speed;
        else if(*l_speed_out < min_speed)
             *l_speed_out = min_speed;
        if(*r_speed_out > max_speed)
             *r_speed_out = max_speed;
        else if(*r_speed_out < min_speed)
             *r_speed_out = min_speed;
        //
        *l_dir_out = 1;
         *r_dir_out = 0;
    }
    else if(kb_in[83])//S-reverse
    {
         *l_speed_out = *r_speed_out = base_speed;
        if(kb_in[65])//A-left
         {
            *l_speed_out *= rotate_speed_dec;
            *r_speed_out   *= rotate_speed_inc;
        }
        else if(kb_in[68])//D-right
        {
             *l_speed_out *= rotate_speed_inc;
            *r_speed_out *= rotate_speed_dec;
         }
        //check limits
        if(*l_speed_out > max_speed)
             *l_speed_out = max_speed;
        else if(*l_speed_out < min_speed)
             *l_speed_out = min_speed;
        if(*r_speed_out > max_speed)
             *r_speed_out = max_speed;
        else if(*r_speed_out < min_speed)
             *r_speed_out = min_speed;
        //
        *l_dir_out = 0;
         *r_dir_out = 1;
    }
    //if no forward or reverse pressed. then   rotate on center
    else//if(kb_in[87] == 0 && kb_in[83] == 0)
    {
         if(kb_in[65])//A-left
        {
            *l_speed_out = *r_speed_out   = base_speed;
            *l_dir_out = 0;
            *r_dir_out = 0;
         }
        else if(kb_in[68])//D-right
        {
            *l_speed_out   = *r_speed_out = base_speed;
            *l_dir_out = 1;
            *r_dir_out   = 1;
        }
    }
    //head rotation
    if(head_control == 1)//from   mouse
    {
        int x = kb_in[257];
        int y = kb_in[258];
         int diffx = x - m_init_mouse_pos[0];
        int diffy = y - m_init_mouse_pos[1];
         if(diffx != 0)
        {
            //if(x == m_prev_mouse_pos[0])//user   stabilized mouse position. move head
            {
                if(kb_in[256]   & 0b10)//if right button pressed then only move mouse
                {
                    if(m_head_speed_reverse[0])
                         *h_angle_out += (diffx * head_speed[0] * 0.1);
                    else
                         *h_angle_out -= (diffx * head_speed[0] * 0.1);
                    if(*h_angle_out   < head_hangle[0])
                        *h_angle_out = head_hangle[0];
                     else if(*h_angle_out > head_hangle[1])
                        *h_angle_out   = head_hangle[1];
                }
                m_init_mouse_pos[0] =   x;
            }
        }
        if(diffy != 0)
        {
            //if(y   == m_prev_mouse_pos[1])//user stabilized mouse position. move head
            {
                 if(kb_in[256] & 0b10)//if right button pressed then only move mouse
                 {
                    if(m_head_speed_reverse[1])
                        *v_angle_out   -= (diffy * head_speed[1] * 0.1);
                    else
                        *v_angle_out   += (diffy * head_speed[1] * 0.1);
                    if(*v_angle_out < head_vangle[0])
                         *v_angle_out = head_vangle[0];
                    else   if(*v_angle_out > head_vangle[1])
                        *v_angle_out = head_vangle[1];
                 }
                m_init_mouse_pos[1] = y;
            }
         }
        m_prev_mouse_pos[0] = x;
        m_prev_mouse_pos[1] = y;
     }
    else//from arrow keys
    {
        //37-left, 38-up,39-right,40-bottom
         if((kb_in[37] && m_head_speed_reverse[0] == false) || (kb_in[39] && m_head_speed_reverse[0]   == true))
        {
            *h_angle_out += (head_speed[0]);
            if(*h_angle_out   > head_hangle[1])
                *h_angle_out = head_hangle[1];
        }
         else if((kb_in[39] && m_head_speed_reverse[0] == false) || (kb_in[37] &&   m_head_speed_reverse[0] == true))
        {
            *h_angle_out += (-head_speed[0]);
             if(*h_angle_out < head_hangle[0])
                *h_angle_out =   head_hangle[0];
        }
        if((kb_in[38] && m_head_speed_reverse[1]   == false) || (kb_in[40] && m_head_speed_reverse[1] == true))
        {
            *v_angle_out   += (-head_speed[1]);
            if(*v_angle_out < head_vangle[0])
                *v_angle_out   = head_vangle[0];
        }
        else if((kb_in[40] && m_head_speed_reverse[1]   == false) || (kb_in[38] && m_head_speed_reverse[1] == true))
        {
            *v_angle_out   += (head_speed[1]);
            if(*v_angle_out > head_vangle[1])
                *v_angle_out   = head_vangle[1];
        }
    }
    //center horizontal and vertical   heads when G is pressed
    if(kb_in[71])
    {
        *h_angle_out =   head_hangle[2];
        *v_angle_out = head_vangle[2];
    }
}

void   RemCarManual927823855::RunPlotStep(const volatile GLOBAL_RUN_PARAM_STRUCT *arg,   _INT32 *kb_in, _FLOAT *l_speed_out, _INT32 *l_dir_out, _FLOAT *r_speed_out, _INT32   *r_dir_out, _FLOAT *h_angle_out, _FLOAT *v_angle_out){
    Run(arg, kb_in, l_speed_out,   l_dir_out, r_speed_out, r_dir_out, h_angle_out, v_angle_out);
}

void RemCarManual927823855::PostRun(const   volatile GLOBAL_POSTRUN_PARAM_STRUCT *arg, _INT32 *kb_in, _FLOAT *l_speed_out, _INT32   *l_dir_out, _FLOAT *r_speed_out, _INT32 *r_dir_out, _FLOAT *h_angle_out, _FLOAT   *v_angle_out){
}

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