Published December 6, 2023 © CC BY-NC

3D Printed Screw-propelled Robot With Video Feed

We are going to make a fully 3D-printed simple version of a screw-propelled vehicle

IntermediateFull instructions provided4 hours151

3D Printed Screw-propelled Robot With Video Feed

Story

A screw-propelled vehicle is a type of land or amphibious vehicle that uses one or more auger-like cylinders fitted with a helical flange to move. The cylinders are rotated by an engine, and the flange engages with the ground or water to propel the vehicle forward. Screw-propelled vehicles are often used in areas with difficult terrain, such as snow, ice, mud, and swamps. They are also used in some military applications.

Supplies

Parts

2*N20 motor 3v 50 rpm
25mm 5v fan
TP4056 BMS
2*Red LED
Heat sink for camera
Heat sink for Xiao
DRV8833 motor controller
Slide ON-OFF switch
Seeed Studio XIAO ESP32S3 Sense
2*18650 battery ( I am using a battery from an old laptop )
12*CSK Allen M3 x 10mm
2*Socket Botton Head Cap Screw M3 x 20 mm
heat sink compound
connecting wires kit
Kapton tape

Tools

Allen key
Sandpaper
3d printer
Soldering kit
Glue gun

History of Screw-Propelled Vehicles

📷The concept of a screw-propelled vehicle (SPV) was first proposed by Leonardo da Vinci in the early 1500s. However, it was not until the 19th century that the first practical SPVs were built. These early SPVs were used for a variety of purposes, including agriculture, transportation, and military applications. In 1868, Jacob Morath, a Swiss immigrant to the United States, patented a twin-screw plowing machine. This machine was one of the first examples of a practical SPV. In 1899, the Peavey brothers of Maine built one of the first screw-propelled vehicles that was used for transportation. Their vehicle was used to transport goods between their farm and a nearby railroad station. In the early 1900s, SPVs began to be used for military applications. The British Army used SPVs to transport troops and supplies during the Boer War. The German Army used SPVs to transport troops and supplies during World War I. Today, SPVs are used for a variety of specialized applications, such as search and rescue, oil and gas exploration, and military applications.

(Source Wikipedia)

Modeling in Autodesk Fusion 360

I used Fusion 360 for planning and designing this robot, but I am not fully getting into how I modeled it, but we will look at how I designed the screw wheels of this robot, and we will discuss it in the next step, you can skip this step if you need. all design files are given below

Modeling The Screw Wheels

let's start with creating a cylinder

make a coil from the top side of the cylinder we are going to choose a diameter of 20mm, and I choose these parameters
Revolution: 2
Height : -120mm
Section: Triangular
Section size: 9mm
Operation: Join

you can play with this parameter as you like

Rotate the cylinder to 180° and again create a coil in it and use the same parameter that was used previously
Now we need to make the cylinder sides pointy for that I created a sketch and used the Revolve tool with cut operation

yep, we made it.

3D Printing

📷I used my Anet a8 for 3d printing these parts, it is like 6 years old, sorry for the print quality, I will update to Anyubic Karbo 2 Neo soon !!. 3d printing screw wheels were hard because of the difficulty of removing the supports,

Uploading Code to XIAO

I always like to upload the code to the microcontroller before assembly. Here we are using a tiny Xiao esp32s3 sense from the Seeedstudio. It is a highly integrated, Xtensa processor ESP32-S3R8 SoC, which supports 2.4GHz WiFi and low-power Bluetooth BLE 5.0, As the advanced version of Seeed Studio XIAO ESP32S3, this board comes with a plug-in OV2640 camera sensor for displaying full 1600*1200 resolution.

I am using Arduino IDE for flashing the code follow these tutorials for setting up IDE for XIAO ESP32S3 and learn more about this board

https://www.youtube.com/watch?v=qNzlytUdB_Q&t=944s

and thanks techiesms for the code and inspiration for this project

Testing the Xiao

After flashing the Xiao will start a wifi hotspot

SSID : ROBO

Password: PASSPASS

const char* ssid = "ROBO";   //Enter SSID WIFI Nameconst char* password = "PASSPASS";   //Enter WIFI Password

you can change this if you need from Code.ino

After Xiao has created a hotspot successfully it will show an IP address in the serial monitor

AP IP address: http://192.168.4.1Starting web server on port: '80'Starting stream server on port: '81'

after connecting wifi with your smartphone open your browser and enter this 192.168.4.1 IP address, wait for the connection establishment. if everything works you can see your face in it 😅

Wiring Diagram

📷The brain of this robot is Xiao, there are signal 4 wires from the Xiao going to the DRV8833 motor controller, and the main power source is two 3.7v 18650 batteries connected in parallel, we are using a TP4056 Battery Charging Module for recharging the batteries. we have a small 5v fan for cooling the xiao, We have two N20 3v 50rpm motors which are controlled by the DRV8833, We also have two LEDs for the illumination, all of which can be switched on with an ON/OFF slide switch

Assembly and Wiring

I tried my best to make the assembly simple, most of the components are fixed with a hot glue

now we can start with led

Step 1

After cutting the terminals of led, I connected two LEDs in parallel,

Step 2

I attached the lead to the main with a glue gun

Step 3

I solder all GPIO pins with a long wire and also tagged all the wires with corresponding GPIO numbers

Step 4

I covered all exposed copper pads under the xaio with kapton tape, I am including a heat sink behind it for dissipating heat from the xiao, Kapton tape will help to prevent copper pads from touching the aluminum heat-sink📷

Step 5

I put some heat sink compound to the big heat sink

Step 6

Put that heat sink to the back of Xiao

Step 7

I glued Xiao to the main body and also put the small heat sink to the camera module

Step 8

Make sure that camera module is visible through the fro hole

Step 9

Remove the sticker on the back of the antenna and past it to the main body📷

Step 10

I connected two batteries in parallel. and connected bms to it, Everything is attached with hot glue📷

Step 11

Glued the battery to the main body

Step 12

Attached is the ON-OFF switch to the main body📷

Step 13

Attached is the small fan for the main body

Step 14

Glued the DRV8833 on top the battery and connected all wires according to the circuit diagram

Step 15

Run the motor wires through two small holes in the back of the main body and connect the wires to two motors

Step 16

Insert the motors in the square holes in the motor holder

Step 17

Attach the back support with four M3 10mm screws

Step 18

Attach the motor holder to the back support two M3 10mm screws

Step 19

Attach the left and right wheels to the motor shaft

Step 20

Attach the font wheel support to the main body with two M3 10mm screws, and attach the left and right wheels with M3 20mm screws to the front wheel support

Step 21

Attach the top plate with four M3 10mm screws

Assembly completed

Connect the robot with the smartphone wifi ( step 6)

flip the robot upside down and observe the motor rotation direction, make sure it is rotating as shown below when you press the left and right button

forward and backward test

thanks for going along with this project, I still like to improve this project I am planning for a second version of this robot, a more powerful full motor and fully weather-sealed body, I still couldn't test this on snow because of the geographical limitations, there is still room for improvement, let me know your suggestions

My special thanks to seeedstudio Fusion team for providing Xiao esp32s3 sense board for this project

Code

// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "camera_index.h"
#include "Arduino.h"

extern int gpLb;
extern int gpLf;
extern int gpRb;
extern int gpRf;
extern int gpLed;
extern String WiFiAddr;

void WheelAct(int nLf, int nLb, int nRf, int nRb);

typedef struct {
        size_t size; //number of values used for filtering
        size_t index; //current value index
        size_t count; //value count
        int sum;
        int * values; //array to be filled with values
} ra_filter_t;

typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

#define PART_BOUNDARY "123456789000000000000987654321"
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

static ra_filter_t ra_filter;
httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static ra_filter_t * ra_filter_init(ra_filter_t * filter, size_t sample_size){
    memset(filter, 0, sizeof(ra_filter_t));

    filter->values = (int *)malloc(sample_size * sizeof(int));
    if(!filter->values){
        return NULL;
    }
    memset(filter->values, 0, sample_size * sizeof(int));

    filter->size = sample_size;
    return filter;
}

static int ra_filter_run(ra_filter_t * filter, int value){
    if(!filter->values){
        return value;
    }
    filter->sum -= filter->values[filter->index];
    filter->values[filter->index] = value;
    filter->sum += filter->values[filter->index];
    filter->index++;
    filter->index = filter->index % filter->size;
    if (filter->count < filter->size) {
        filter->count++;
    }
    return filter->sum / filter->count;
}

static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
    jpg_chunking_t *j = (jpg_chunking_t *)arg;
    if(!index){
        j->len = 0;
    }
    if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){
        return 0;
    }
    j->len += len;
    return len;
}

static esp_err_t capture_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.printf("Camera capture failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    httpd_resp_set_type(req, "image/jpeg");
    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");

    size_t fb_len = 0;
    if(fb->format == PIXFORMAT_JPEG){
        fb_len = fb->len;
        res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
    } else {
        jpg_chunking_t jchunk = {req, 0};
        res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
        httpd_resp_send_chunk(req, NULL, 0);
        fb_len = jchunk.len;
    }
    esp_camera_fb_return(fb);
    int64_t fr_end = esp_timer_get_time();
    Serial.printf("JPG: %uB %ums", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
    return res;
}

static esp_err_t stream_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t * _jpg_buf = NULL;
    char * part_buf[64];

    static int64_t last_frame = 0;
    if(!last_frame) {
        last_frame = esp_timer_get_time();
    }

    res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
    if(res != ESP_OK){
        return res;
    }

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            Serial.printf("Camera capture failed");
            res = ESP_FAIL;
        } else {
            if(fb->format != PIXFORMAT_JPEG){
                bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
                esp_camera_fb_return(fb);
                fb = NULL;
                if(!jpeg_converted){
                    Serial.printf("JPEG compression failed");
                    res = ESP_FAIL;
                }
            } else {
                _jpg_buf_len = fb->len;
                _jpg_buf = fb->buf;
            }
        }
        if(res == ESP_OK){
            size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
            res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
        }
        if(res == ESP_OK){
            res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
        }
        if(res == ESP_OK){
            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
        }
        if(fb){
            esp_camera_fb_return(fb);
            fb = NULL;
            _jpg_buf = NULL;
        } else if(_jpg_buf){
            free(_jpg_buf);
            _jpg_buf = NULL;
        }
        if(res != ESP_OK){
            break;
        }
        int64_t fr_end = esp_timer_get_time();

        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        uint32_t avg_frame_time = ra_filter_run(&ra_filter, frame_time);
        Serial.printf("MJPG: %uB %ums (%.1ffps), AVG: %ums (%.1ffps)"
            ,(uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time,
            avg_frame_time, 1000.0 / avg_frame_time
        );
    }

    last_frame = 0;
    return res;
}

static esp_err_t cmd_handler(httpd_req_t *req){
    char*  buf;
    size_t buf_len;
    char variable[32] = {0,};
    char value[32] = {0,};

    buf_len = httpd_req_get_url_query_len(req) + 1;
    if (buf_len > 1) {
        buf = (char*)malloc(buf_len);
        if(!buf){
            httpd_resp_send_500(req);
            return ESP_FAIL;
        }
        if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
            if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) == ESP_OK &&
                httpd_query_key_value(buf, "val", value, sizeof(value)) == ESP_OK) {
            } else {
                free(buf);
                httpd_resp_send_404(req);
                return ESP_FAIL;
            }
        } else {
            free(buf);
            httpd_resp_send_404(req);
            return ESP_FAIL;
        }
        free(buf);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int val = atoi(value);
    sensor_t * s = esp_camera_sensor_get();
    int res = 0;

    if(!strcmp(variable, "framesize")) {
        if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);
    }
    else if(!strcmp(variable, "quality")) res = s->set_quality(s, val);
    else if(!strcmp(variable, "contrast")) res = s->set_contrast(s, val);
    else if(!strcmp(variable, "brightness")) res = s->set_brightness(s, val);
    else if(!strcmp(variable, "saturation")) res = s->set_saturation(s, val);
    else if(!strcmp(variable, "gainceiling")) res = s->set_gainceiling(s, (gainceiling_t)val);
    else if(!strcmp(variable, "colorbar")) res = s->set_colorbar(s, val);
    else if(!strcmp(variable, "awb")) res = s->set_whitebal(s, val);
    else if(!strcmp(variable, "agc")) res = s->set_gain_ctrl(s, val);
    else if(!strcmp(variable, "aec")) res = s->set_exposure_ctrl(s, val);
    else if(!strcmp(variable, "hmirror")) res = s->set_hmirror(s, val);
    else if(!strcmp(variable, "vflip")) res = s->set_vflip(s, val);
    else if(!strcmp(variable, "awb_gain")) res = s->set_awb_gain(s, val);
    else if(!strcmp(variable, "agc_gain")) res = s->set_agc_gain(s, val);
    else if(!strcmp(variable, "aec_value")) res = s->set_aec_value(s, val);
    else if(!strcmp(variable, "aec2")) res = s->set_aec2(s, val);
    else if(!strcmp(variable, "dcw")) res = s->set_dcw(s, val);
    else if(!strcmp(variable, "bpc")) res = s->set_bpc(s, val);
    else if(!strcmp(variable, "wpc")) res = s->set_wpc(s, val);
    else if(!strcmp(variable, "raw_gma")) res = s->set_raw_gma(s, val);
    else if(!strcmp(variable, "lenc")) res = s->set_lenc(s, val);
    else if(!strcmp(variable, "special_effect")) res = s->set_special_effect(s, val);
    else if(!strcmp(variable, "wb_mode")) res = s->set_wb_mode(s, val);
    else if(!strcmp(variable, "ae_level")) res = s->set_ae_level(s, val);
    else {
        res = -1;
    }

    if(res){
        return httpd_resp_send_500(req);
    }

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, NULL, 0);
}

static esp_err_t status_handler(httpd_req_t *req){
    static char json_response[1024];

    sensor_t * s = esp_camera_sensor_get();
    char * p = json_response;
    *p++ = '{';

    p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
    p+=sprintf(p, "\"quality\":%u,", s->status.quality);
    p+=sprintf(p, "\"brightness\":%d,", s->status.brightness);
    p+=sprintf(p, "\"contrast\":%d,", s->status.contrast);
    p+=sprintf(p, "\"saturation\":%d,", s->status.saturation);
    p+=sprintf(p, "\"special_effect\":%u,", s->status.special_effect);
    p+=sprintf(p, "\"wb_mode\":%u,", s->status.wb_mode);
    p+=sprintf(p, "\"awb\":%u,", s->status.awb);
    p+=sprintf(p, "\"awb_gain\":%u,", s->status.awb_gain);
    p+=sprintf(p, "\"aec\":%u,", s->status.aec);
    p+=sprintf(p, "\"aec2\":%u,", s->status.aec2);
    p+=sprintf(p, "\"ae_level\":%d,", s->status.ae_level);
    p+=sprintf(p, "\"aec_value\":%u,", s->status.aec_value);
    p+=sprintf(p, "\"agc\":%u,", s->status.agc);
    p+=sprintf(p, "\"agc_gain\":%u,", s->status.agc_gain);
    p+=sprintf(p, "\"gainceiling\":%u,", s->status.gainceiling);
    p+=sprintf(p, "\"bpc\":%u,", s->status.bpc);
    p+=sprintf(p, "\"wpc\":%u,", s->status.wpc);
    p+=sprintf(p, "\"raw_gma\":%u,", s->status.raw_gma);
    p+=sprintf(p, "\"lenc\":%u,", s->status.lenc);
    p+=sprintf(p, "\"hmirror\":%u,", s->status.hmirror);
    p+=sprintf(p, "\"dcw\":%u,", s->status.dcw);
    p+=sprintf(p, "\"colorbar\":%u", s->status.colorbar);
    *p++ = '}';
    *p++ = 0;
    httpd_resp_set_type(req, "application/json");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, json_response, strlen(json_response));
}

static esp_err_t index_handler(httpd_req_t *req){
    httpd_resp_set_type(req, "text/html");
    String page = "";
     page += "<meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0\">\n";
 page += "<script>var xhttp = new XMLHttpRequest();</script>";
 page += "<script>function getsend(arg) { xhttp.open('GET', arg +'?' + new Date().getTime(), true); xhttp.send() } </script>";
 //page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:280px;'></p><br/><br/>";
 page += "<p align=center><IMG SRC='http://" + WiFiAddr + ":81/stream' style='width:300px;'></p><br/><br/>";
 
 page += "<p align=center> <button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('go') onmouseup=getsend('stop') ontouchstart=getsend('go') ontouchend=getsend('stop') ><b>Forward</b></button> </p>";
 page += "<p align=center>";
 page += "<button style=background-color:lightgrey;width:90px;height:80px; onmousedown=getsend('left') onmouseup=getsend('stop') ontouchstart=getsend('left') ontouchend=getsend('stop')><b>Left</b></button>&nbsp;";
 page += "<button style=background-color:indianred;width:90px;height:80px onmousedown=getsend('stop') onmouseup=getsend('stop')><b>Stop</b></button>&nbsp;";
 page += "<button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('right') onmouseup=getsend('stop') ontouchstart=getsend('right') ontouchend=getsend('stop')><b>Right</b></button>";
 page += "</p>";

 page += "<p align=center><button style=background-color:lightgrey;width:90px;height:80px onmousedown=getsend('back') onmouseup=getsend('stop') ontouchstart=getsend('back') ontouchend=getsend('stop') ><b>Backward</b></button></p>";  

 page += "<p align=center>";
 page += "<button style=background-color:blue;width:140px;height:40px onmousedown=getsend('ledon')><b>OPEN</b></button>";
 page += "<button style=background-color:blue;width:140px;height:40px onmousedown=getsend('ledoff')><b>CLOSE</b></button>";
 page += "</p>";
 
    return httpd_resp_send(req, &page[0], strlen(&page[0]));
}

static esp_err_t go_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, HIGH, LOW);
    Serial.println("Go");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t back_handler(httpd_req_t *req){
    WheelAct(LOW, HIGH, LOW, HIGH);
    Serial.println("Back");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t left_handler(httpd_req_t *req){
    WheelAct(HIGH, LOW, LOW, LOW);
    Serial.println("Left");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t right_handler(httpd_req_t *req){
    WheelAct(LOW, LOW, LOW, HIGH);
    Serial.println("Right");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t stop_handler(httpd_req_t *req){
    WheelAct(LOW, LOW, LOW, LOW);
    Serial.println("Stop");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

static esp_err_t ledon_handler(httpd_req_t *req){
    digitalWrite(gpLed, HIGH);
    Serial.println("LED ON");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}
static esp_err_t ledoff_handler(httpd_req_t *req){
    digitalWrite(gpLed, LOW);
    Serial.println("LED OFF");
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, "OK", 2);
}

void startCameraServer(){
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();

    httpd_uri_t go_uri = {
        .uri       = "/go",
        .method    = HTTP_GET,
        .handler   = go_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t back_uri = {
        .uri       = "/back",
        .method    = HTTP_GET,
        .handler   = back_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t stop_uri = {
        .uri       = "/stop",
        .method    = HTTP_GET,
        .handler   = stop_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t left_uri = {
        .uri       = "/left",
        .method    = HTTP_GET,
        .handler   = left_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t right_uri = {
        .uri       = "/right",
        .method    = HTTP_GET,
        .handler   = right_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t ledon_uri = {
        .uri       = "/ledon",
        .method    = HTTP_GET,
        .handler   = ledon_handler,
        .user_ctx  = NULL
    };
    
    httpd_uri_t ledoff_uri = {
        .uri       = "/ledoff",
        .method    = HTTP_GET,
        .handler   = ledoff_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t index_uri = {
        .uri       = "/",
        .method    = HTTP_GET,
        .handler   = index_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t status_uri = {
        .uri       = "/status",
        .method    = HTTP_GET,
        .handler   = status_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t cmd_uri = {
        .uri       = "/control",
        .method    = HTTP_GET,
        .handler   = cmd_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t capture_uri = {
        .uri       = "/capture",
        .method    = HTTP_GET,
        .handler   = capture_handler,
        .user_ctx  = NULL
    };

   httpd_uri_t stream_uri = {
        .uri       = "/stream",
        .method    = HTTP_GET,
        .handler   = stream_handler,
        .user_ctx  = NULL
    };


    ra_filter_init(&ra_filter, 20);
    Serial.printf("Starting web server on port: '%d'", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(camera_httpd, &index_uri);
        httpd_register_uri_handler(camera_httpd, &go_uri); 
        httpd_register_uri_handler(camera_httpd, &back_uri); 
        httpd_register_uri_handler(camera_httpd, &stop_uri); 
        httpd_register_uri_handler(camera_httpd, &left_uri);
        httpd_register_uri_handler(camera_httpd, &right_uri);
        httpd_register_uri_handler(camera_httpd, &ledon_uri);
        httpd_register_uri_handler(camera_httpd, &ledoff_uri);
    }

    config.server_port += 1;
    config.ctrl_port += 1;
    Serial.printf("Starting stream server on port: '%d'", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
}

void WheelAct(int nLf, int nLb, int nRf, int nRb)
{
 digitalWrite(gpLf, nLf);
 digitalWrite(gpLb, nLb);
 digitalWrite(gpRf, nRf);
 digitalWrite(gpRb, nRb);
}

//File: index_ov2640.html.gz, Size: 6787
#define index_ov2640_html_gz_len 6787
const uint8_t index_ov2640_html_gz[] = {
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//File: index_ov3660.html.gz, Size: 8887
#define index_ov3660_html_gz_len 8887
const uint8_t index_ov3660_html_gz[] = {
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 0xE1, 0x9E, 0xE1, 0x0A, 0x58, 0xDC, 0x5E, 0xD8, 0x50, 0x19, 0x8D, 0x93, 0x91, 0x41, 0xDE, 0xD3,
 0xC8, 0xD1, 0xC3, 0x61, 0x43, 0x1A, 0xDF, 0x6B, 0x0E, 0x1A, 0x39, 0x38, 0xD9, 0xC6, 0x97, 0x34,
 0xD2, 0xCD, 0x74, 0x65, 0x05, 0x12, 0x84, 0x7B, 0xBD, 0xBD, 0x32, 0xE3, 0x4F, 0xDC, 0x5B, 0x59,
 0xC4, 0xA3, 0xA9, 0x39, 0x20, 0x4A, 0xAC, 0xE8, 0xCD, 0xD8, 0x06, 0xCF, 0x17, 0x30, 0xFD, 0xC6,
 0x75, 0x3A, 0x54, 0x70, 0x6A, 0x81, 0x9C, 0xA1, 0x60, 0xFB, 0x3A, 0x28, 0x8A, 0xE4, 0xCE, 0x0E,
 0xB1, 0x9B, 0x22, 0x99, 0xC9, 0xC7, 0x37, 0x14, 0xFC, 0xEA, 0x11, 0x80, 0xF3, 0xB1, 0x9A, 0xA8,
 0x7D, 0xF9, 0x07, 0x45, 0x71, 0xA7, 0xCD, 0x21, 0x5A, 0xF8, 0x4B, 0x62, 0xD2, 0xCA, 0x57, 0xB0,
 0xF1, 0x4F, 0x35, 0x5C, 0x14, 0x4F, 0xEC, 0xE4, 0xB8, 0xFB, 0x35, 0xB4, 0x90, 0x70, 0xB0, 0x29,
 0x9C, 0x6C, 0xD0, 0x0D, 0x3F, 0xF9, 0xF3, 0x0C, 0x96, 0x9E, 0x4B, 0x0A, 0x4B, 0xF8, 0x63, 0x91,
 0xC4, 0xEE, 0x40, 0x4E, 0x03, 0xDD, 0x7C, 0x07, 0xD9, 0x4B, 0xCA, 0x4C, 0xF7, 0xF9, 0x34, 0x09,
 0x34, 0x60, 0x8A, 0x90, 0xC7, 0x74, 0x84, 0x93, 0x21, 0x26, 0xA6, 0x84, 0x84, 0x19, 0x33, 0x9C,
 0x97, 0xE2, 0xDD, 0x30, 0x3C, 0x0B, 0x08, 0x65, 0xF1, 0x9B, 0x0F, 0x93, 0x9B, 0xFD, 0x27, 0xA1,
 0x18, 0xB6, 0x71, 0x60, 0x07, 0x31, 0x04, 0x09, 0x11, 0x65, 0x89, 0x89, 0x1B, 0x4D, 0x72, 0x5E,
 0x96, 0x23, 0x33, 0xF6, 0x8B, 0x8D, 0x99, 0x74, 0xC0, 0xA4, 0x3D, 0xFF, 0x8B, 0x1A, 0xCD, 0xBF,
 0x0F, 0xD8, 0x20, 0x1B, 0x8B, 0x79, 0xFB, 0x65, 0x08, 0xDA, 0x9A, 0x24, 0x16, 0x12, 0x73, 0x6F,
 0xE9, 0xB2, 0xF8, 0x41, 0x80, 0xA3, 0xF8, 0x20, 0x29, 0xDD, 0x9A, 0x26, 0xC6, 0x73, 0xBA, 0x90,
 0x41, 0x89, 0x6C, 0x62, 0x73, 0x3C, 0x21, 0x1E, 0x69, 0x3E, 0x97, 0x29, 0x2E, 0x66, 0x5F, 0xCC,
 0x61, 0xAF, 0x2C, 0x72, 0x9D, 0x5B, 0x37, 0xA5, 0x7B, 0xB5, 0xA8, 0xBC, 0x22, 0x80, 0x8B, 0x70,
 0x6F, 0x5E, 0x21, 0x64, 0xB4, 0x8F, 0x2F, 0x86, 0x83, 0x6E, 0xD2, 0x53, 0x5B, 0x5C, 0xA5, 0x4D,
 0x13, 0xA0, 0x88, 0xB5, 0x18, 0x56, 0xEC, 0xDB, 0x4E, 0x93, 0x1F, 0x1F, 0x7C, 0xF2, 0xE0, 0xE9,
 0x28, 0xC7, 0x1A, 0xC7, 0xA0, 0xA9, 0xE7, 0x17, 0x03, 0xC7, 0x77, 0x04, 0xC6, 0x69, 0x37, 0xAE,
 0x14, 0x80, 0xA3, 0x6D, 0x8C, 0x31, 0x50, 0x31, 0x9E, 0xE5, 0x01, 0x42, 0x1B, 0xB6, 0x4D, 0x75,
 0x2F, 0xA6, 0x5F, 0x3F, 0x70, 0xD7, 0x1F, 0x28, 0x21, 0xA9, 0x40, 0x74, 0x4D, 0x17, 0x07, 0x3A,
 0x78, 0xBF, 0xC5, 0xD3, 0xA4, 0xB8, 0x6C, 0x93, 0xEB, 0xA9, 0x1F, 0x70, 0xE5, 0x40, 0x63, 0x78,
 0xF6, 0x92, 0x39, 0x2E, 0x5D, 0x54, 0x90, 0xF6, 0x80, 0x96, 0xD2, 0xF1, 0xBD, 0x19, 0x1B, 0x0E,
 0xC2, 0x4D, 0x7F, 0x18, 0xAD, 0xF0, 0xF0, 0x57, 0xD6, 0x27, 0x0E, 0xDF, 0x09, 0x9B, 0xDA, 0x2F,
 0xA4, 0xC5, 0x5D, 0xA7, 0x49, 0x89, 0x4A, 0x4A, 0xCC, 0xBF, 0x7D, 0x1C, 0x07, 0xD8, 0xD0, 0x87,
 0x11, 0x33, 0x66, 0x6F, 0x19, 0x61, 0x39, 0x12, 0x13, 0x8F, 0x83, 0x49, 0xE2, 0x63, 0x63, 0x19,
 0xDB, 0x31, 0xFA, 0xE2, 0xD3, 0x6C, 0x0A, 0xC3, 0xD7, 0x6B, 0x70, 0x3E, 0xF0, 0xF6, 0xEB, 0xD6,
 0xFE, 0x5D, 0x1E, 0x3B, 0x4C, 0x5C, 0x91, 0xED, 0xA8, 0x12, 0x41, 0x07, 0x0A, 0x39, 0xB6, 0x84,
 0x7C, 0xE4, 0xE8, 0xE2, 0x0E, 0x73, 0xE9, 0x88, 0x69, 0x4A, 0x96, 0x60, 0xCF, 0xB7, 0x45, 0xCB,
 0x32, 0xD5, 0x04, 0x82, 0x68, 0x08, 0xD8, 0x22, 0x36, 0x95, 0xA8, 0xC6, 0xEC, 0x42, 0x34, 0x10,
 0xB4, 0xC7, 0x7D, 0x30, 0x83, 0xF6, 0x64, 0x1E, 0x9F, 0x4A, 0x18, 0x99, 0x00, 0x42, 0x67, 0xCA,
 0x59, 0xC2, 0x99, 0x19, 0xCE, 0x95, 0x91, 0x58, 0xC2, 0x99, 0x01, 0x41, 0x01, 0xE1, 0x7E, 0xD3,
 0xD2, 0x59, 0x03, 0x9D, 0x3B, 0x00, 0x3B, 0xEB, 0xD0, 0x87, 0x61, 0x70, 0x46, 0x82, 0x36, 0x40,
 0x4F, 0x12, 0xB7, 0x97, 0x84, 0xBE, 0x80, 0x90, 0xDF, 0x67, 0x67, 0xAC, 0x41, 0xD8, 0xCB, 0xD4,
 0x35, 0x6F, 0x3B, 0xC6, 0x7A, 0x4D, 0x1C, 0xF3, 0x62, 0x69, 0xD9, 0x66, 0x8B, 0x81, 0xC6, 0xD6,
 0x31, 0x30, 0x2C, 0x12, 0xBA, 0xF5, 0x8D, 0x63, 0x05, 0x6F, 0xBE, 0x60, 0xD7, 0x5A, 0x7B, 0x7D,
 0x53, 0xEC, 0x5C, 0xE4, 0xCD, 0x3A, 0xA6, 0x67, 0x5C, 0x7F, 0x83, 0xFB, 0xA2, 0xA9, 0x39, 0x1C,
 0x74, 0x0F, 0xBA, 0xBC, 0x41, 0x00, 0xE9, 0x96, 0x10, 0x39, 0xE2, 0xC5, 0xFD, 0xA3, 0x3F, 0x7E,
 0xFF, 0x6D, 0x84, 0x37, 0x70, 0x5F, 0xB3, 0x4B, 0xAD, 0x3D, 0xBA, 0xB1, 0xFA, 0xF0, 0xB7, 0x35,
 0xEE, 0x57, 0x11, 0xC3, 0x4C, 0x4C, 0x8C, 0xB8, 0x67, 0x1A, 0x45, 0xC5, 0x9A, 0x7F, 0x15, 0x47,
 0x0A, 0x97, 0x1D, 0x18, 0x27, 0xD0, 0xDC, 0x5B, 0x32, 0x50, 0xB1, 0xA3, 0x1A, 0xC1, 0x91, 0x93,
 0xAF, 0x61, 0xA2, 0xFA, 0x0B, 0x31, 0x3C, 0xD0, 0xC7, 0x73, 0xAD, 0xA5, 0x77, 0xF5, 0xE7, 0x2D,
 0x7A, 0xFD, 0x1D, 0xB0, 0xB3, 0x6C, 0xED, 0x3F, 0xEF, 0xED, 0xEF, 0x77, 0x7C, 0xD0, 0x19, 0x69,
 0xB5, 0xFB, 0xA2, 0x09, 0xFC, 0xA1, 0x6D, 0x58, 0x27, 0xD9, 0xF7, 0xDF, 0xBA, 0x1B, 0xCF, 0xCF,
 0x6B, 0xF0, 0xCE, 0x72, 0x70, 0x24, 0xCE, 0x6B, 0xF2, 0x01, 0xA6, 0x2F, 0x8E, 0xB9, 0xD5, 0x44,
 0xA7, 0x1B, 0xC1, 0xC5, 0x9C, 0x91, 0xEE, 0x8F, 0x85, 0xA4, 0x3F, 0x96, 0xEE, 0xF3, 0x8C, 0x93,
 0x60, 0xC5, 0xBB, 0x25, 0x96, 0xA5, 0xEE, 0xE2, 0xC6, 0x11, 0xE5, 0x74, 0xBC, 0x6A, 0xB0, 0xA5,
 0xFF, 0x54, 0xC0, 0xE2, 0x59, 0xD2, 0x56, 0x2D, 0x5C, 0x25, 0x11, 0x95, 0x66, 0x58, 0xB9, 0x19,
 0x69, 0xB2, 0x60, 0x9C, 0x9E, 0x2D, 0x27, 0xB3, 0xCF, 0x8B, 0x0D, 0xF8, 0xF8, 0x4A, 0x44, 0x54,
 0x76, 0x0D, 0xA7, 0x9C, 0x61, 0xE8, 0x87, 0x29, 0x68, 0xDE, 0x78, 0x04, 0xB7, 0x63, 0x23, 0x18,
 0x9F, 0xAF, 0x16, 0x00, 0xD0, 0x49, 0x6A, 0x38, 0x8A, 0x69, 0x08, 0xB5, 0x4D, 0xB6, 0x24, 0x44,
 0x40, 0xBB, 0xFD, 0x30, 0x62, 0x21, 0x10, 0x9F, 0x75, 0x45, 0xBA, 0xDB, 0x9E, 0x5D, 0xA7, 0x03,
 0xD6, 0xD6, 0xAC, 0xFA, 0x2E, 0xA6, 0x2D, 0xF1, 0x70, 0x4E, 0xC4, 0x0F, 0xC9, 0x67, 0x9E, 0xC4,
 0x99, 0x17, 0x55, 0x82, 0x02, 0x88, 0x4F, 0x34, 0xC7, 0x8F, 0xB3, 0x4F, 0x14, 0xD9, 0x27, 0x9C,
 0x7D, 0x04, 0x88, 0x26, 0x9C, 0xC5, 0x25, 0x8B, 0xD0, 0x18, 0x7F, 0x7A, 0x15, 0x71, 0x76, 0x3D,
 0xCD, 0xA5, 0x93, 0x97, 0x12, 0x62, 0xEC, 0xE5, 0x03, 0x40, 0xFB, 0x15, 0xF8, 0x43, 0x9C, 0xAD,
 0xEB, 0xA9, 0x1A, 0x5B, 0xA2, 0x14, 0x81, 0x00, 0x11, 0x5B, 0xF2, 0x82, 0x85, 0x60, 0xE5, 0x35,
 0x09, 0xF8, 0x23, 0x7C, 0x86, 0x63, 0x6A, 0x73, 0xCF, 0x58, 0x11, 0xFC, 0x62, 0x7B, 0x48, 0xAC,
 0x49, 0xEF, 0x17, 0xE6, 0x7E, 0xAC, 0x59, 0x8C, 0xC9, 0xB0, 0xE4, 0x51, 0x08, 0x1A, 0xB6, 0x8C,
 0x41, 0x87, 0x74, 0xE4, 0x42, 0x8B, 0x46, 0x2C, 0x83, 0x0B, 0x4F, 0x95, 0x84, 0x15, 0xB6, 0x8E,
 0x1C, 0x21, 0x42, 0x20, 0x4A, 0x26, 0xA3, 0x74, 0xA9, 0x8C, 0xCD, 0x24, 0x18, 0xB3, 0xA9, 0xF9,
 0x42, 0xBC, 0x41, 0xC8, 0x52, 0xA2, 0x4D, 0xE8, 0x20, 0x0C, 0x3E, 0x8B, 0xCC, 0x42, 0x52, 0xD8,
 0x42, 0xA2, 0xFE, 0xDE, 0x26, 0x58, 0x9E, 0xE0, 0x2F, 0x65, 0xBC, 0xF8, 0xE6, 0x6B, 0xCD, 0xF5,
 0x34, 0xDB, 0xBD, 0x26, 0xB8, 0x28, 0x28, 0x36, 0x90, 0x69, 0x53, 0x02, 0x01, 0x8E, 0xB0, 0x22,
 0x13, 0xEE, 0x8F, 0x09, 0x96, 0x96, 0x0F, 0x73, 0x62, 0x7C, 0x75, 0x28, 0x79, 0xAA, 0x87, 0xA3,
 0x53, 0x21, 0x7B, 0xDB, 0x25, 0xF4, 0x84, 0x38, 0x19, 0x4C, 0x24, 0xCB, 0xA7, 0x9C, 0xC7, 0xAD,
 0xC0, 0x92, 0x57, 0xD6, 0x2A, 0x21, 0xC2, 0xF0, 0xF6, 0xA3, 0x95, 0xA2, 0x9C, 0x81, 0x42, 0x41,
 0x86, 0x60, 0x91, 0x2C, 0x23, 0x5E, 0xB7, 0xA4, 0x29, 0xAB, 0x1D, 0xE6, 0x68, 0x14, 0x4B, 0xE1,
 0xD2, 0x68, 0x9E, 0xAD, 0x15, 0x26, 0x71, 0x36, 0xCA, 0xB1, 0xDF, 0xD9, 0xA1, 0x78, 0x14, 0x8A,
 0x9D, 0x61, 0xF6, 0x36, 0x79, 0x72, 0x76, 0xB8, 0x0C, 0x56, 0xF6, 0xE4, 0xC9, 0xFF, 0x02, 0x49,
 0x60, 0xC8, 0xA8, 0x55, 0x0C, 0x01, 0x00
};


//File: index_ov5640.html.gz, Size: 9124
#define index_ov5640_html_gz_len 9124
const uint8_t index_ov5640_html_gz[] = {
 0x1F, 0x8B, 0x08, 0x08, 0xD9, 0x6C, 0x6A, 0x5E, 0x00, 0x03, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x5F,
 0x6F, 0x76, 0x35, 0x36, 0x34, 0x30, 0x2E, 0x68, 0x74, 0x6D, 0x6C, 0x00, 0xED, 0x3D, 0x6B, 0x77,
...

This file has been truncated, please download it to see its full contents.

#include "esp_camera.h"
#include <WiFi.h>


// Select camera model
//#define CAMERA_MODEL_WROVER_KIT
//#define CAMERA_MODEL_M5STACK_PSRAM
//#define CAMERA_MODEL_AI_THINKER
#define CAMERA_MODEL_XIAO_ESP32S3


const char* ssid = "ROBO";   //Enter SSID WIFI Name
const char* password = "PASSPASS";   //Enter WIFI Password


#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    21
#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      19
#define Y4_GPIO_NUM      18
#define Y3_GPIO_NUM       5
#define Y2_GPIO_NUM       4
#define VSYNC_GPIO_NUM   25
#define HREF_GPIO_NUM    23
#define PCLK_GPIO_NUM    22

#elif defined(CAMERA_MODEL_ESP_EYE)
#define PWDN_GPIO_NUM    -1
#define RESET_GPIO_NUM   -1
#define XCLK_GPIO_NUM    4
#define SIOD_GPIO_NUM    18
#define SIOC_GPIO_NUM    23

#define Y9_GPIO_NUM      36
#define Y8_GPIO_NUM      37
#define Y7_GPIO_NUM      38
#define Y6_GPIO_NUM      39
#define Y5_GPIO_NUM      35
#define Y4_GPIO_NUM      14
#define Y3_GPIO_NUM      13
#define Y2_GPIO_NUM      34
#define VSYNC_GPIO_NUM   5
#define HREF_GPIO_NUM    27
#define PCLK_GPIO_NUM    25

#define LED_GPIO_NUM     22

#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_V2_PSRAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     22
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_WIDE)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     22
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#define LED_GPIO_NUM       2

#elif defined(CAMERA_MODEL_M5STACK_ESP32CAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       17
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_M5STACK_UNITCAM)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       32
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(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

#define LED_GPIO_NUM      33

#elif defined(CAMERA_MODEL_TTGO_T_JOURNAL)
#define PWDN_GPIO_NUM      0
#define RESET_GPIO_NUM    15
#define XCLK_GPIO_NUM     27
#define SIOD_GPIO_NUM     25
#define SIOC_GPIO_NUM     23

#define Y9_GPIO_NUM       19
#define Y8_GPIO_NUM       36
#define Y7_GPIO_NUM       18
#define Y6_GPIO_NUM       39
#define Y5_GPIO_NUM        5
#define Y4_GPIO_NUM       34
#define Y3_GPIO_NUM       35
#define Y2_GPIO_NUM       17
#define VSYNC_GPIO_NUM    22
#define HREF_GPIO_NUM     26
#define PCLK_GPIO_NUM     21

#elif defined(CAMERA_MODEL_XIAO_ESP32S3)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM     10
#define SIOD_GPIO_NUM     40
#define SIOC_GPIO_NUM     39

#define Y9_GPIO_NUM       48
#define Y8_GPIO_NUM       11
#define Y7_GPIO_NUM       12
#define Y6_GPIO_NUM       14
#define Y5_GPIO_NUM       16
#define Y4_GPIO_NUM       18
#define Y3_GPIO_NUM       17
#define Y2_GPIO_NUM       15
#define VSYNC_GPIO_NUM    38
#define HREF_GPIO_NUM     47
#define PCLK_GPIO_NUM     13

#define LED_GPIO_NUM      21

#elif defined(CAMERA_MODEL_ESP32_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM    32
#define RESET_GPIO_NUM   33
#define XCLK_GPIO_NUM     4
#define SIOD_GPIO_NUM    18
#define SIOC_GPIO_NUM    23

#define Y9_GPIO_NUM      36
#define Y8_GPIO_NUM      19
#define Y7_GPIO_NUM      21
#define Y6_GPIO_NUM      39
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM      13
#else
#define Y5_GPIO_NUM      35
#endif
#define Y4_GPIO_NUM      14
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM      35
#else
#define Y3_GPIO_NUM      13
#endif
#define Y2_GPIO_NUM      34
#define VSYNC_GPIO_NUM    5
#define HREF_GPIO_NUM    27
#define PCLK_GPIO_NUM    25

#elif defined(CAMERA_MODEL_ESP32S3_CAM_LCD)
#define PWDN_GPIO_NUM     -1
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM     40
#define SIOD_GPIO_NUM     17
#define SIOC_GPIO_NUM     18

#define Y9_GPIO_NUM       39
#define Y8_GPIO_NUM       41
#define Y7_GPIO_NUM       42
#define Y6_GPIO_NUM       12
#define Y5_GPIO_NUM       3
#define Y4_GPIO_NUM       14
#define Y3_GPIO_NUM       47
#define Y2_GPIO_NUM       13
#define VSYNC_GPIO_NUM    21
#define HREF_GPIO_NUM     38
#define PCLK_GPIO_NUM     11

#elif defined(CAMERA_MODEL_ESP32S2_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM     1
#define RESET_GPIO_NUM    2
#define XCLK_GPIO_NUM     42
#define SIOD_GPIO_NUM     41
#define SIOC_GPIO_NUM     18

#define Y9_GPIO_NUM       16
#define Y8_GPIO_NUM       39
#define Y7_GPIO_NUM       40
#define Y6_GPIO_NUM       15
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM       12
#else
#define Y5_GPIO_NUM       13
#endif
#define Y4_GPIO_NUM       5
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM       13
#else
#define Y3_GPIO_NUM       12
#endif
#define Y2_GPIO_NUM       14
#define VSYNC_GPIO_NUM    38
#define HREF_GPIO_NUM     4
#define PCLK_GPIO_NUM     3

#elif defined(CAMERA_MODEL_ESP32S3_EYE)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 15
#define SIOD_GPIO_NUM 4
#define SIOC_GPIO_NUM 5

#define Y2_GPIO_NUM 11
#define Y3_GPIO_NUM 9
#define Y4_GPIO_NUM 8
#define Y5_GPIO_NUM 10
#define Y6_GPIO_NUM 12
#define Y7_GPIO_NUM 18
#define Y8_GPIO_NUM 17
#define Y9_GPIO_NUM 16

#define VSYNC_GPIO_NUM 6
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13

#else
#error "Camera model not selected"
#endif

// GPIO Setting
extern int gpLb =  D6; // Left 1
extern int gpLf = D5; // Left 2
extern int gpRb = D8; // Right 1
extern int gpRf = D10; // Right 2
extern int gpLed =  D9; // Light
extern String WiFiAddr = "";

void startCameraServer();
WiFiServer server(81);



void setup()
{
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();


  pinMode(gpLb, OUTPUT); //Left Backward
  pinMode(gpLf, OUTPUT); //Left Forward
  pinMode(gpRb, OUTPUT); //Right Forward
  pinMode(gpRf, OUTPUT); //Right Backward
  pinMode(gpLed, OUTPUT); //Light

  //initialize
  digitalWrite(gpLb, LOW);
  digitalWrite(gpLf, LOW);
  digitalWrite(gpRb, LOW);
  digitalWrite(gpRf, LOW);
  digitalWrite(gpLed, LOW);

  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;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    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);
    return;
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_CIF);


  WiFi.softAP(ssid, password);

  IPAddress IP = WiFi.softAPIP();
  Serial.print("AP IP address: http://");
  Serial.println(IP);

  server.begin();

  startCameraServer();

  // Serial.print("Camera Ready! Use 'http://");
  // Serial.print(WiFi.localIP());
  WiFiAddr = IP.toString();
  // Serial.println("' to connect");
}

void loop() {
  // put your main code here, to run repeatedly:

}

Credits

Gokul

38 projects • 32 followers

⚡Electronics Engineer |🛠️Maker & Open-Source Enthusiast | 🚀 3D Printing & CAD Expert | 🏗️ Product Design |🔌Embedded Systems & PCB Design

3D Printed Screw-propelled Robot With Video Feed

Story

Supplies

Tools

History of Screw-Propelled Vehicles

Modeling in Autodesk Fusion 360

Modeling The Screw Wheels

3D Printing

Uploading Code to XIAO

Testing the Xiao

SSID : ROBO

Password: PASSPASS

Wiring Diagram

Assembly and Wiring

Step 1

Custom parts and enclosures

xiao_robot_v21_nFJSuoxhXw.step

Code

app_httpd.cpp

camera_index.h

Code.ino

Credits

Gokul

Comments

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3D Printed Screw-propelled Robot With Video Feed

3D Printed Screw-propelled Robot With Video Feed

Story

Supplies

Tools

History of Screw-Propelled Vehicles

Modeling in Autodesk Fusion 360

Modeling The Screw Wheels

3D Printing

Uploading Code to XIAO

Testing the Xiao

SSID : ROBO

Password: PASSPASS

Wiring Diagram

Assembly and Wiring

Step 1

Custom parts and enclosures

xiao_robot_v21_nFJSuoxhXw.step

Code

app_httpd.cpp

camera_index.h

Code.ino

Credits

Gokul

Comments

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