ESP32-CAM做的摄像头小车

DF的电源模块

5v2A移动电源，必须是用2A来驱动，否则无法工作

电机驱动的型号不详，某宝里买的-MX1508-2路直流电机驱动模块 正反转 PWM调速 双H桥步进电机迷你超L298N

小车底盘是自己改装的

[mw_shl_code=applescript,false]/*
This sketch is made by gada888
2020-7-27
*/

const char* ssid = "xxxxx";
const char* password = "xxxxx";

#include "esp_camera.h"
#include <WiFi.h>
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"

// WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
//            or another board which has PSRAM enabled

//CAMERA_MODEL_AI_THINKER
#define PWDN_GPIO_NUM     32
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM      0
#define SIOD_GPIO_NUM     26
#define SIOC_GPIO_NUM     27

#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

void startCameraServer();

void setup() {
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
  
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;  //0-63 lower number means higher quality
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;  //0-63 lower number means higher quality
    config.fb_count = 1;
  }
  
  // camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    delay(1000);
    ESP.restart();
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);  // UXGA|SXGA|XGA|SVGA|VGA|CIF|QVGA|HQVGA|QQVGA
  
  //Servo
  ledcAttachPin(2, 3);  
  ledcSetup(3, 50, 16);
  ledcWrite(3, 4850);
  
  //Flash
  ledcAttachPin(4, 4);  
  ledcSetup(4, 5000, 8);
  
  //Wheel
  ledcAttachPin(12, 5);  //You can adjust the speed of the wheel. (gpio12, gpio13)
  ledcSetup(5, 5000, 8);      
  ledcAttachPin(13, 6);
  ledcSetup(6, 5000, 8);
  ledcWrite(6, 0);   
  pinMode(15, OUTPUT);  //If I output PWM to GPIO 15 using ledcWrite, it will lose control. Why?
  pinMode(14, OUTPUT);  

  Serial.println("ssid: " + (String)ssid);
  Serial.println("password: " + (String)password);
  
  WiFi.begin(ssid, password);

  long int StartTime=millis();
  while (WiFi.status() != WL_CONNECTED) {
      delay(500);
      if ((StartTime+10000) < millis()) break;
  }

  startCameraServer();

  char* apssid = "ESP32-CAM";
  char* appassword = "12345678";         //AP password require at least 8 characters.
  Serial.println("");
  Serial.println("WiFi connected");   
  Serial.print("Camera Ready! Use 'http://");
  if (WiFi.status() == WL_CONNECTED) {
    Serial.print(WiFi.localIP());
    Serial.println("' to connect");
    WiFi.softAP((WiFi.localIP().toString()+"_"+(String)apssid).c_str(), appassword);   
   
    for (int i=0;i<5;i++) {
      ledcWrite(4,10);
      delay(200);
      ledcWrite(4,0);
      delay(200);   
    }        
  }
  else {
    Serial.print(WiFi.softAPIP());
    Serial.println("' to connect");
    WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword);   
   
    for (int i=0;i<2;i++) {
      ledcWrite(4,10);
      delay(1000);
      ledcWrite(4,0);
      delay(1000);   
    }  
  }     
}

void loop() {
  // put your main code here, to run repeatedly:
  delay(10000);
}[/mw_shl_code]