LineFollower_SemrehV2_Code
The main code of the Line Follower Robot "Semreh" in its 2nd revision, designed and developed by Tamandutech UFABC.
Hardware
- ESP32-WROOM-32 Module
- ADC - MCP3008
- 8x QRE1113 as main sensors
- PCB 1.6mm as Chassis
- ESC 4in1 BlHeli 15A
- 4x Brushless Motors 1103 8000kv
- LiPo 3S 350 mAh 70C
PINOUT - ESP32
**ADC** | Function | Port | | :---: | :---: | | CLK | GPIO18 | | OUT ADC | GPIO19 | | IN ADC | GPIO22 | | CS/SHDN | DGPIO23 | **Laterais** | Function | Port | | :---: | :---: | | OUT Esquerdo | GPIO39 | | OUT Direito | GPIO33 | **Driver Motor** | Function | Port | | :---: | :---: | | PWMA | GPI14 | | PWMB | GPIO13 | | IN Direito 1 | GPIO25 | | IN Direito 2 | GPIO21 | | IN Esquerdo 1 | GPIO26 | | IN Esquerdo 2 | GPIO27 | | STBY | GPIO17 | **Encorder** | Function | Port | | :---: | :---: | | OUT Esquerdo A | GPIO34 | | OUT Esquerdo B | GPI35 | | OUT Direito A | GPIO16 | | OUT Direito B | GPIO04 | **LEDs - WS2812B** | Function | Port | | :---: | :---: | | IN DATA | GPIO32 | **Buzzer** | Function | Port | | :---: | :---: | | IN DATA | GPIO12 |Software
- Programmed in Vscode with PlatformIO.
- Arduino IDE as Framework.
- C++
//Source Code: if (line() == true) { run.fast(); } //Just kidding