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motors controller

'motors_controller' manages the following features in a separate arduino Pro Mini board :

  • analog input to measure motors current
  • digital output to command motor drivers

Because it's not possible to manage everything simultaneously on ESP32-CAM board :

  • wifi + analog input
  • serial + digital pins (6 pins required to command motors)

The main supervisor_controller board (ESP32-CAM) communicates with this motors_controller via I2C with a simple specific protocol consisting of sending a simple string with text commands.

Commands syntax

Several commands can be sent together : <command1>;<command2>;<command3>

They will be buffered on arduino side and executed sequentially after the 'run' command is received.

All commands are in the same form : <command_id>:<arg1>[,<arg2[,<arg3>]]

  • Stop and clear command : c

  • Print state immediately : s

  • Print all buffered commands immediately : p

  • Print measure buffer immediately m:<samples_count>

  • Set measure sampling : ms:<period_ms>,<samples_count>

  • Set output level : l:<output_level> with :

    • output_level (between 0 and 255): value written to PWM_PIN to allow output voltage customization.

  • Set motors output : o:<motor_pins>,<max_time_ms>,<threshold> with :

    • motors_pin: the integer value of all output pins
    • max_time_ms: max time before stopping motors
    • threshold: measured current threshold (0 to 1023) where motor must be stopped