Welcome

Thank you for choosing Freenove products!

About Battery
First, read the document About_Battery.pdf in the unzipped folder.
If you did not download the zip file, please download it and unzip it via link below:
https://github.com/Freenove/Freenove_4WD_Car_Kit_for_ESP32

Get Support and Offer Input

Freenove provides free and responsive product and technical support, including but not limited to:
 Product quality issues
 Product use and build issues
 Questions regarding the technology employed in our products for learning and education
 Your input and opinions are always welcome
 We also encourage your ideas and suggestions for new products and product
improvements For any of the above, you may send us an email to:

[email protected]
Safety and Precautions
Please follow the following safety precautions when using or storing this product:
 Keep this product out of the reach of children under 6 years old.
 This product should be used only when there is adult supervision present as young
children lack necessary judgment regarding safety and the consequences of product
misuse.
 This product contains small parts and parts, which are sharp. This product contains
electrically conductive parts. Use caution with electrically conductive parts near or around
power supplies, batteries and powered (live) circuits.
 When the product is turned ON, activated or tested, some parts will move or rotate. To
avoid injuries to hands and fingers, keep them away from any moving parts!
 It is possible that an improperly connected or shorted circuit may cause overheating.
Should this happen, immediately disconnect the power supply or remove the batteries
and do not touch anything until it cools down! When everything is safe and cool, review
the product tutorial to identify the cause.
 Only operate the product in accordance with the instructions and guidelines of this tutorial,
otherwise parts may be damaged or you could be injured.
 Store the product in a cool dry place and avoid exposing the product to direct sunlight.
 After use, always turn the power OFF and remove or unplug the batteries before storing.
About Freenove
Freenove provides open source electronic products and services worldwide.

Freenove is committed to assist customers in their education of robotics, programming and

electronic circuits so that they may transform their creative ideas into prototypes and new and
innovative products. To this end, our services include but are not limited to:

 Educational and Entertaining Project Kits for Robots, Smart Cars and Drones
 Educational Kits to Learn Robotic Software Systems for Arduino, Raspberry Pi, micro: bit and
ESP32.
 Electronic Component Assortments, Electronic Modules and Specialized Tools
 Product Development and Customization Services

You can find more about Freenove and get our latest news and updates through our website:

http://www.freenove.com

Copyright
All the files, materials and instructional guides provided are released under Creative
Commons Attribution- NonCommercial-ShareAlike 3.0 Unported License. A copy of this
license can be found in the folder containing the Tutorial and software files associated with this

product.
This means you can use these resource in your own derived works, in part or completely,
but NOT for the intent or purpose of commercial use.

Freenove brand and logo are copyright of Freenove Creative Technology Co., Ltd. and
cannot be used without written permission.

T
M

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Contents

Welcome..............................................................................................................1
Contents.................................................................................................................................1
List.........................................................................................................................................1
ESP32 Car Shield ............................................................................................................1
Machinery Parts ..............................................................................................................2
Transmission Parts ............................................................................................................2
Acrylic Parts ......................................................................................................................3
Electronic Parts ..................................................................................................................4
Wires ..............................................................................................................................5
Tools ................................................................................................................................5
Required but NOT Contained Parts ..............................................................................5
Preface...................................................................................................................................6
ESP32........................................................................................................................ 7
Pins of the Car .................................................................................................................8
Introduction of the Car ....................................................................................................10
Chapter 0 Installation of Arduino IDE ...................................................................................11
Arduino Software...........................................................................................................11
Environment Configuration...........................................................................................14
CH340.............................................................................................................. 17
Uploading the First Code ..............................................................................................27
Chapter 1 Assembling Smart Car .....................................................................................34
Assembling the Car ......................................................................................................34
How to Play .................................................................................................................49
Chapter 2 Module test .......................................................................................................52
2.1..........................................................................................................................Motor 52
2.2.............................................................................................................................Servo 57
2.3...........................................................................................................................Buzzer 60
2.4.............................................................................................................ADC Module 63
2.5...................................................................................................................LED Matrix 67
2.6 WS2812 ................................................................................................................77
Chapter 3 Ultrasonic Obstacle Avoidance Car ....................................................................81
3.1.......................................................................................................Ultrasonic Module 81
3.2.................................................................................................................Ultrasonic car 89
Chapter 4 Light Tracing Car ................................................................................................91
4.1.......................................................................................................Photoresistor ADC 91
4.2.........................................................................................................Light Tracing Car 94
Chapter 5 Line Tracking Car ................................................................................................96
5.1.....................................................................................................Line tracking sensor 96
5.2..........................................................................................................Line Tracking Car 99
Chapter 6 Infrared Car......................................................................................................102
6.1.......................................................................Introduction of infrared reception function 102

6.2..................................................................................................................Infrared Car 107

6.3........................................................................................Multi-Functional Infrared Car 111
Chapter 7 WiFi Car ..........................................................................................................117
7.1..............................................................................WiFi Sending and Receiving Data 117
 7.2...........................................................................................WiFi Transmitting Images 129
7.3..............................................................................................WiFi Video Car by APP 137
7.4................................................................................................WiFi Video Car by PC 145
What's next? .....................................................................................................................161
 █ List 1

List
If you have any concerns, please feel free to contact us via [email protected]

ESP32 Car Shield

Top Bottom
2 www.freenove.c

Machinery Parts

Transmission Parts

Servo package x2 Driven wheel x4

DC speed reduction motor x4 Motor bracket package x4

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 █ List 3

Acrylic Parts
Note that there are two kinds of acrylic in the car, and they are very similar to
each other, except for a little difference in the head. But they are the same steps
on installation.
Acrylic List

Acrylic List

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4 www.freenove.c

Electronic Parts
Line tracking module x1 Dot Matrix Module HC-SR04 Ultrasonic Module x1
x1

Camera connector x1

or
ESP32 x1 Infrared emitter x1

Note: Although there are two types of camera extensions, they are installed the same way, so
the following tutorial will focus on the first one.

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 █ List 5

Wires
Jumper Wire F/F(4) x1

FPC Wire x1

XH-2.54-5Pin cable x1

Tools

Cross screwdriver (3mm) x1 Black tape x1 Cable Tidy x15cm

Required but NOT Contained Parts

2 x 3.7V 18650 lithium rechargeable batteries with continuous discharge current >3A.
It is easier to find proper battery on eBay than Amazon. Search “18650 high drain” on eBay.

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6 www.freenove.c

Preface
Welcome to use Freenove 4WD Car Kit for ESP32. Following this tutorial, you can make a
very cool car with many functions.
Based on the ESP32 development board, a popular IoT control board, this kit uses the very
popular Arduino IDE for programming, so you can share and exchange your experience
and design ideas with enthusiasts all over the world. The parts in the kit include all electronic
components, modules, and mechanical components required for making the vcar. They
are all individually packaged. There are detailed assembly and debugging instructions in this
book. If you encounter any problems, please feel free to contact us for fast and free technical
support.

[email protected]
This car does not require a high threshold for users. Even if you know little professional
knowledge, you can make your own smart car easily with the guidance of the tutorial. If
you’re really interested in ESP32 and hope to learn how to program and build circuits, please
visit our website: www.freenove.com or contact us

to buy our kit designed for beginners: Freenove Ultimate Kit for ESP32.

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 █ Preface 7

ESP32
ESP32-WROVER has launched a total of two antenna packages, PCB on-board antenna
and IPEX antenna respectively. The PCB on-board antenna is an integrated antenna in the
chip module itself, so it is convenient to carry and design. The IPEX antenna is a metal
antenna derived from the integrated antenna of the chip module itself, which is used to
enhance the signal of the module.
PCB on-board antenna IPEX antenna

In this tutorial, the ESP32-WROVER is designed based on PCB on-board antenna packaged
ESP32-WROVER
module. All projects in this tutorial are based on this board.

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8 www.freenove.c

Pins of the Car

If you don’t know the what each GPIO corresponds to, you can refer to the
following table. The functions of the pins are allocated as follows:
Pins of ESP32 Funtions Description
GPIO36 CSI_Y6
GPIO39 CSI_Y7
GPIO34 CSI_Y8
GPIO35 CSI_Y9
GPIO25 CSI_VYS
NC
GPIO26 Camera interface SIOD
GPIO27 SIOC
GPI CSI_Y2
O4
GPI CSI_Y3
O5
GPIO18 CSI_Y4
GPIO19 CSI_Y5
GPIO21 XCLK
GPIO22 PCLK
GPIO23 HREF
GPIO13 SDA
I2C port
GPIO14 SCL
GPIO32 Battery detection / WS2812 A6
GPIO33 Search light ADC port A7
GPIO12 Trig
Ultrasonic module interface
GPIO15 Echo
GPI Buzzer Buzzer
O2 port
GPI Infrared receiver port IR
O0
GPI TX
Serial port
O1
GPI RX
O3

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 █ Preface 9

The hardware interfaces of ESP32 are distributed as follows:

Compare the left and right images. We've boxed off the resources on the ESP32 in different
colors to facilitate your understanding of the ESP32.
Box Corresponding resources introduction
color
GPIO pin

LED indicator

Camera interface

Reset button, Boot mode selection button

USB port

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10 www.freenove.c

Introduction of the Car

The function diagram of the ESP32 car is as follows:

WS2812 WS2812

Photoresistor
Photoresistor

M3 Motor
M1
Motor

Ultrason
Line ic
Tracking Sensor
Module

Infrared Sensor
IIC

Power switch

Servo Motor
Buzzer

M2 ESP32
Motor

M4 Motor
Batter
y
Hold
er

WS2812 WS2812

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 █ Chapter 0 Installation of Arduino IDE 11

Chapter 0 Installation of Arduino IDE

Arduino Software
Arduino Software (IDE) is used to write and upload the code for Arduino Board.
First, install Arduino Software (IDE): visit https://www.arduino.cc, click "Download" to enter the

download page.
Select and download corresponding installer according to your operating system. If you are a
Windows user, please select the "Windows Installer" to download and install the driver
correctly.

After the download completes, run the installer. For Windows users, there may pop up an
installation dialog during the installation. When it popes up, please allow the installation.

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12 Chapter 0 Installation of www.freenove.c

After installation is completed, an Arduino Software shortcut will be generated in the desktop.
Run the Arduino Software.

The interface of Arduino Software is as follows:

Menus

Toolbar

Text editor

Message area

Console

Configured board
and serial port

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 █ Chapter 0 Installation of Arduino IDE 13

Programs written with Arduino Software (IDE) are called sketches. These sketches are written
in the text editor and saved with the file extension.ino. The editor has features for cutting/pasting
and searching/replacing text. The message area gives feedback while saving and exporting
and also displays errors. The console displays text output by the Arduino Software (IDE),
including complete error messages and other information. The bottom right-hand corner of
the window displays the configured board and serial port. The toolbar buttons allow you to
verify and upload programs, create, open, and save sketches, and open the serial monitor.

Verify Check your code for compile errors .

Upload Compile your code and upload them to the

configured board. New Create a new sketch.
Open Present a menu of all the sketches in your sketchbook.
Clicking one will open it within the current window and
overwrite its content.

Save Save your sketch.

Serial Monitor Open the serial monitor.

Additional commands are found within the five menus: File, Edit, Sketch, Tools, Help. The
menus are context sensitive, which means only those items relevant to the work currently
being carried out are available.

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14 Chapter 0 Installation of www.freenove.c

Environment Configuration
First, open the software platform arduino, and then click File in Menus and select Preferences.

Second, click on the symbol behind "Additional Boards Manager URLs"

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 █ Chapter 0 Installation of Arduino IDE 15

Third, fill in https://dl.espressif.com/dl/package_esp32_index.json in the new window, click OK,

and click OK on the Preferences window again.

Fourth, click Tools in Menus, select Board:"ArduinoUno", and then select "Boards Manager".

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16 Chapter 0 Installation of www.freenove.c

Fifth, input "esp32" in the window below, and press Enter. click "Install" to install.

When finishing installation, click Tools in the Menus again and select Board: "Arduino Uno",
and then you can see information of ESP32-WROVER. click "ESP32-WROVER" so that
the ESP32 programming development environment is configured.

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 █ Chapter 0 Installation of Arduino IDE 17

CH340
ESP32 uses CH340 to download codes. So before using it, we need to install CH340 driver in our
computers.

Windows
Check whether CH340 has been installed
1. Connect your computer and ESP32 with a USB cable.

2. Turn to the main interface of your computer, select “This PC” and right-click to select “Manage”.

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18 Chapter 0 Installation of www.freenove.c

3. Click “Device Manager”. If your computer has installed CH340, you can see“USB-
SERIAL CH340 (COMx)”. And you can click here to move to the next step.

CH340 Port

Installing CH340
1. First, download CH340 driver, click http://www.wch-ic.com/search?
q=CH340&t=downloads to download the appropriate one based on your operating
system.

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 █ Chapter 0 Installation of Arduino IDE 19

Windows

Linux MAC

If you would not like to download the installation package, you can open
“Freenove_4WD_Car_Kit_for_ESP32/CH340”, we have prepared the installation package.

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20 Chapter 0 Installation of www.freenove.c

2. Open the folder “Freenove_4WD_Car_Kit_for_ESP32/CH340/Windows/”

3. Double click “CH341SER.EXE”.

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 █ Chapter 0 Installation of Arduino IDE 21

4. Click “INSTALL” and wait for the installation to complete.

5. Install successfully. Close all interfaces.

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22 Chapter 0 Installation of www.freenove.c

6. When ESP32 is connected to computer, select “This PC”, right-click to select “Manage”
and click “Device Manager” in the newly pop-up dialog box, and you can see the
following interface.

7. So far, CH340 has been installed successfully. Close all dialog boxes.

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 █ Chapter 0 Installation of Arduino IDE 23

MAC
First, download CH340 driver, click http://www.wch-ic.com/search?q=CH340&t=downloads to
download the appropriate one based on your operating system.

Windows

Linux

MAC

If you would not like to download the installation package, you can open
“Freenove_4WD_Car_Kit_for_ESP32/CH340”, we have prepared the installation
package. Second, open the folder “Freenove_4WD_Car_Kit_for_ESP32/CH340/MAC/”

Run it.

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24 Chapter 0 Installation of www.freenove.c

Third, click Continue.

Fourth, click Install.

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 █ Chapter 0 Installation of Arduino IDE 25

Then, waiting Finsh.

Finally, restart your PC.

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26 Chapter 0 Installation of www.freenove.c

If you still have not installed the CH340 by following the steps above, you can view readme.pdf to

ReadMe

install it.

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 █ Chapter 0 Installation of Arduino IDE 27

Uploading the First Code

Here we use “00.0_Servo_90” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” as an example.
The servo on the car is controlled by PCA9685. Therefore, it is necessary to add the related
libararies to Arduino IDE.

How to Add libraries

We prefer to use method 2 to install libs.

Method 1
Open Arduino IDE, click Sketch on Menu bar, move your mouse to Include Library and
then click Manage Libraries.

There is an input field on the right top of the pop-up window. Enter PCA9685 there and
click to install the library boxed in the following picture, click to

Wait for the installation to finish.

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28 Chapter 0 Installation of www.freenove.c

Method 2
Open Arduino IDE, click Sketch on Menu bar, move your mouse to Include Library and
then click Add .ZIP library.

On the pop-up window, select PCA9685.zip of Libraries folder in

“Freenove_4WD_Car_Kit_for_ESP32\Sketches”, and then click Open.

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 █ Chapter 0 Installation of Arduino IDE 29

How to compile and upload code

Step 1. Connect your computer and ESP32 with a USB cable.

Step 2. Open “00.0_Servo_90” folder in “Freenove_4WD_Car_Kit_for_ESP32\Sketches”, double-click

“00.0_Servo_90.ino”. The code is to rotate the two servo motors to 90°.

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30 Chapter 0 Installation of www.freenove.c

Step 3. Select development board.

Click Tolls on Menu bar, move your mouse to Board: “Arduino Uno”, select ESP32
Arduino and then select ESP32 Wrover Module.

Step 4. Select serial port.

Cilick Tools on Menu bar, move your mouse to Port and select COMx on your
computer. The value of COMx varies in different computers, but it won’t affect the
download function of ESP32, as long as you select the correct one.

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 █ Chapter 0 Installation of Arduino IDE 31

Click “Upload Using Programmer” and the program will be downloaded to ESP32.

When you see the following content, it indicates that the program has been uploaded to ESP32.

Note: For macOS users, if the uploading fails, please set the baud rate to 115200 before clicking
“Upload Using Programmer”.

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32 Chapter 0 Installation of www.freenove.c

The car needs to be installed with batteries. When installing them, please following the
silk print on the board.

anode

cathode

anode

cathode

Plug the ESP32 to the car shield. Pay attention to the orientation of ESP32.

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 █ Chapter 0 Installation of Arduino IDE 33

Make sure ESP32 is plugged into the shield correctly. Take out two servo motors and plug
them into the car shield. Please note the color of the wires Do NOT connect them wrongly.

Turn ON the switch and the two servos will keep at 90°.

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34 Chapter 1 Assembling www.freenove.c

Chapter 1 Assembling Smart Car

If you have any concerns, please feel free to contact us via [email protected]

Assembling the Car

Installing Motor and Wheels

There is a special fixed bracket to fix motor, which contains an aluminum bracket, two
M3*30 screws, two M3*8 screws, and two M3 nuts, as shown below:

Installation steps：
Step 1 Install servos to fix the bracket on the shield.

Bracket

M3*8 screws M3*8 screws

Put the bottom of the car up, use two M3*8 screws to fix the bracket on the shield.
Step 2 Install the motor to the bracket.

M3*30 screws

M3 nut

Motor

Use two M3*30 screws and two M3 nuts to fix the motor on the bracket

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 █ Chapter 1 Assembling Smart Car

Step 3 Connect the motor wire to the corresponding terminal.

M3 M4

M1
M2

Pass the motor wire through the wire hole of the shield and connect it to the motor interface
on the top. Step 4 Install the wheel to the motor.

Note: The hole is not circle. Please align the hole and fix the wheel to the motor.

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36 Chapter 1 Assembling www.freenove.c

The installation of the four wheels is similar. Repeat the above installation steps to complete
the installation

Installing ESP32

Step: Plug ESP32-Wrover-Dev in the shield.

Pay attention to the

orientation of ESP32.

Please pay attention to the orientation of ESP32. Do NOT reverse it, otherwise it may burn
the ESP32.

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 █ Chapter 1 Assembling Smart Car

Installing Servo
Servo package: one servo, three rocker arms, two M2*8 screws and one M2*4 screw.

Step 1 Fix servo1 to the shield.

M2*16 screw
M2*16 screw

M 2nut
M2 nut

Use two M2*16 screws and two M2 nuts to fix the servo1 on the shield. Pay attention to the servo’s d
Step 2 Fix two acrylics of the Pan-tilt together.

M2 nut

M2*16 screw

Use a M2*16 screw and a M2 nut to fix two acrylics of the Pan-tilt together.

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38 Chapter 1 Assembling www.freenove.c

Step 3 Fix the Pan-tilt to servo1.

M2*4 screw
M2.5*8 screw

M2.5*8 screw

Servo’s rocker arm

Use two M2.5*8 screws to fix the pan-tilt to rocker arm and a M2*4 to fix the rocker arm to servor1
Note: Before fixing the rocker arm to servo1, please adjust the servo at 90°.You can refer to
Step 4 Fix servo2 to Pan-tilt.

M2*16 screw

M2 nut
M2*16 screw

M2 nut

Use two M2*16 screws and two M2 nuts to fix servo2 to Pan-tilt.

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 █ Chapter 1 Assembling Smart Car

Step 5 Wiring of the servor motor

Connect servo1 and servo 2 to Servo1 and Servo2 interfaces on the shield respectively. Pay attentio

Assembling LED Matrix Pan-tilt.

Acrylic parts of the Pan-tilt are as follows：

Installation steps: (Note: Do not disorder Servo1 and Servo2 during the installation.)

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40 Chapter 1 Assembling www.freenove.c

Step 1
Remove the camera from the ESP32.

Do not use force to

disassemble the camera

Pull up the black

piece vertically

There are 2 types of head acrylics. One of these is shown here, and the other installation steps
are the same.
Note: The connector and the ESP32 are flip-top type, please do not install it violently.

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█ Chapter 1 Assembling Smart Car

Step 2

M1.4*6

Use four M1.4*6 screws to fix the camera connector to the Pan-tilt.
Step 3
M1.4*6

Use four M1.4*6 screws to fix the LED matrix to the Pan-tilt.

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42 Chapter 1 Assembling www.freenove.c

Step 4

M3 nut

Between two acrylic plates, use two M3 nuts as washers.

Step 4

M2 nut
M2*16

Use a M2*16 screw and a M2 nut to fix the two acrylics.

Step 5

M2 nut

M2*16

Use a M2*16 screw and a M2 nut to fix the two acrylic parts.

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 █ Chapter 1 Assembling Smart Car

Step 6

M2.5*8

Rocker arm

Use two M2.5*8 screws to fix the rocker arm to acrylic part.

Step 7

M2*4

Use two M2*4 screws to fix the ultrasonic pan-tilt to servor2.

Note: Before fixing the rocker arm to servo2, please adjust the servo at 90°. You can refer to here.

After finished

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44 Chapter 1 Assembling www.freenove.c

Installing Line Tracking Module

Step 1 Installing line tracking module

M3*6 screw M3*6 screw

M3*28 standoff M3*28 standoff

M3*6 screw M3*6 screw

First, use two M3*6 screws to fix two M3*28 standoff to the bottom of the car, and then use two M3*
screws to fix the line tracking module to standoff.
Step 2 Connect the cable to the tracking module

Use cable to connect the two connectors marked above.

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 █ Chapter 1 Assembling Smart Car

Wiring of Head

Step 1

Turn up the FPC connector.

Step 2

√ ×
Make sure that the blue side is upwards and the metal side is downwards. Do NOT connect it
reversely.
Step 3

Make sure that the blue side is upwards and the metal side is downwards. Do NOT connect it
reversely.
Please make sure that FPC Wire can pass through the acrylic sheet. (Refer to the “Installing the
Acrylic Parts-Step 3”)

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46 Chapter 1 Assembling www.freenove.c

Step 4

Module GND SCL SDA VCC

GND SCL SDA VCC
Car
GND 14 13 VCC

According to the prompts on the

module and the car, use the 4P
cable to connect the LED matrix
module and the car. Please note
that the order of the lines cannot
be connected wrongly.

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 █ Chapter 1 Assembling Smart Car

Installing the Acrylic Parts

Step 1

M3*
6

M3*6

M3*6

M3*
6

Pass four M3*6 screws upward from the bottom of the shield.
Step 2

M3*
28

M3*28

M3*28

M3*
28

Fix 4 M3*28 standoffs to M3*6 screws.

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48 Chapter 1 Assembling www.freenove.c

Step 3
M3*6

M3*6

Thread the FPC

cable down here
M3*6

M3*6

Align the acrylic part with the mounting hole of the standoffs, and use four M3*6 screws to
fix the acrylic on the standoffs.
Please make sure that FPC Wire can pass through the acrylic sheet.

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 █ Chapter 1 Assembling Smart Car

How to Play

Add libraries
Open the Arduino IDE, Click Sketch on the menu bar, select Include Library, click Add .ZIP Library...

In the new pop-up window, select Freenove_4WD_Car_Kit_for_ESP32\Libraries, select every Library, click
Open, and repeat this process several times until you have installed all six Libraries into the Arduino.

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50 Chapter 1 Assembling www.freenove.c

IR remote control
Step 1 Upload Code
Connect your computer and ESP32 with a USB cable.

Open the folder Freenove_4WD_Car_Kit_for_ESP32\Sketches\

05.3_Multi_Functional_Car. Double-click to open the 05.3_Multi_Functional_Car.ino.
Click Upload.

Upload

In this tutorial, if you find that the car is moving in the opposite direction as expected,
such as backward when it should be moving forward. The car turned right when it should
have turned left. Then you can modify the file which named
“Freenove_4WD_Car_For_ESP32.h” to change the value as commented.

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 █ Chapter 1 Assembling Smart Car

Step 2 Control the Car

After the code is successfully uploaded, turn on the power of the car and use the infrared
remote control to control the car and other functions. The corresponding keys and their
functions are shown in the following table:

Pull out

ICON KEY Value Function ICON KEY Value Function

FF02FD Move forward FF22DD Control the buzzer

FFE01F Turn left FF18E7 Random emoticons

FF906F Turn light FF38C7 Turn off emoticons

FF9867 Move back FF42BD Random display of WS2812

FFA857 Stop the car FF4AB5 Turn off WS2812 display

FF6897 Control servo 1 turn left FFB04F Control servo 2 turn left

FF30CF Control servo 1 turn right FF7A85 Control servo 2 turn right

FF10EF Control servo 1 turn to 90° FF5AA5 Control servo 2 turn to 90°

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52 Chapter 2 www.freenove.c

Chapter 2 Module test

If you have any concerns, please feel free to contact us via [email protected]

2.1 Mot
or

Motor
A motor is a device that converts electrical energy into mechanical energy. Motor consists of
two parts: stator and rotor. When motor works, the stationary part is stator, and the rotating
part is rotor. Stator is usually the outer case of motor, and it has terminals to connect to the
power. Rotor is usually the shaft of motor, and can drive other mechanical devices to run.
Diagram below is a small DC motor with two pins.

When a motor gets connected to the power supply, it will rotate in one direction. Reverse
the polarity of power supply, then the motor rotates in opposite direction.

+ - - +

PWM
PWM, Pulse Width Modulation, uses digital pins to send certain frequencies of square
waves, that is, the output of high levels and low levels, which alternately last for a while. The total
time for each set of high levels and low levels is generally fixed, which is called the period (the
reciprocal of the period is frequency). The time of high level outputs are generally called “pulse
width”, and the duty cycle is the percentage of the ratio of pulse duration, or pulse width (PW)
to the total period (T) of the waveform.
The longer the output of high levels last, the larger the duty cycle and the higher the
corresponding voltage in analog signal will be. The following figures show how the analogs
signal voltage vary between 0V-5V (high level is 5V) corresponding to the pulse width 0%-
100%:

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The longer the PWM duty cycle is, the higher the output power will be. Now that we understand
this relationship, we can use PWM to control the brightness of an LED or the speed of DC motor
and so on.

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54 Chapter 2 www.freenove.c

Schematic
For this tutorial, the driver chip of the car is controlled by the 8-15th output channels of the IIC
chip PCA9685. When driving the motor, it is necessary to initialize the PCA9685 chip first, and
then set the PWM value of the corresponding output channel to make its output voltage

drive the motor.

As can be seen from the above figure, if we want to control the motor M1, we need to set
the 14th and 15th channels of the PCA9685.
Similarly, to control the motor M2, we need to set the 8th and 9th channels of the PCA9685,
to control the motor M3, we need to set the 12th and 13th channels of the PCA9685, and
to control the motor M4, we need to set the 10th and 11th channels of the PCA9685.
Mx_IN1 Mx_IN2 Rotating direction of
the wheels
1 0 Forward
0 1 backwa
rd

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 █ Chapter 2 Module test 55

Sketch
Next we will download the code to ESP32 to test the motor. Open “01.1_Car_Move_and_Turn”
folder in
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double-click “01.1_Car_Move_and_Turn.ino”.

In this tutorial, if you find that the car is moving in the opposite direction as expected,
such as backward when it should be moving forward. The car turned right when it should
have turned left. Then you can modify the file which named
“Freenove_4WD_Car_For_ESP32.h” to change the value as commented.

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup()
4 {
5 PCA9685_Setup(); //Initialize PCA9685 to control Motor
6 }
7
8 void loop()
9 {
10 Motor_Move(2000, 2000, 2000, 2000); //go forward
11 delay(1000);
12 Motor_Move(0, 0, 0, 0); //stop
13 delay(1000);
14 Motor_Move(-2000, -2000, -2000, -2000); //go back
15 delay(1000);
16 Motor_Move(0, 0, 0, 0); //stop
17 delay(1000);
18
19 Motor_Move(-2000, -2000, 2000, 2000); //turn left
20 delay(1000);

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21 Motor_Move(0, 0, 0, 0); //stop

22 delay(1000);
23 Motor_Move(2000, 2000, -2000, -2000); //turn right
24 delay(1000);
25 Motor_Move(0, 0, 0, 0); //stop
26 delay(1000);
27 }
After downloading the code, please put the car to a relatively open area. Turn on the power
switch and you can see the car go forward, backward, turn left and turn right repeatedly.
Code Explanation
If you are not familiar with Arduino IDE, you can visit https://www.arduino.cc/reference/en/ to
learn more. Add the header file of the car. Each time before controlling the car, please add
header file first.
1 #include "Freenove_4WD_Car_For_ESP32.h"
Motor_Setup function, initialize the driver chip of the motor.
5 PCA9685_Setup(); //Initialize PCA9685 to control Motor
Loop functopn can be used repeatedly in the program. Here we call Motor_Move function to
control the car
to move forward, backward, turn left and turn right repeatedly.
8 void loop()
9 {
10 Motor_Move(2000, 2000, 2000, 2000); //go forward
11 delay(1000);
12 Motor_Move(0, 0, 0, 0); //stop
13 delay(1000);
14 Motor_Move(-2000, -2000, -2000, -2000); //go back
15 delay(1000);
16 Motor_Move(0, 0, 0, 0); //stop
17 delay(1000);
18
19 Motor_Move(-2000, -2000, 2000, 2000); //turn left
20 delay(1000);
21 Motor_Move(0, 0, 0, 0); //stop
22 delay(1000);
23 Motor_Move(2000, 2000, -2000, -2000); //turn right
24 delay(1000);
25 Motor_Move(0, 0, 0, 0); //stop
26 delay(1000);
27 }
Motor_Move function is to control the car. The four parameters m1_speed, m2_speed,
m3_speed, m4_speed range from -4095 to 4095. When the value is positive number, the
motors move forward. Otherwise, they move backwards. m1_speed, m2_speed
represent the two motors on the left and m3_speed, m4_speed embody those on the
right.
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed);
If you are not familiar with the position of the motors, you can click here to check the previous content.
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 █ Chapter 2 Module test 57

2.2 Serv
o

Servo
Servo is a compact package which consists of a DC motor, a set of reduction gears to
provide torque, a sensor and control circuit board. Most servos only have a 180-degree range
of motion via their “horn”. Servos can output higher torque than a simple DC motor alone
and they are widely used to control motion in model cars, model airplanes, robots, etc. Servos
have three wire leads which usually terminate to a male or female 3-pin plug. Two leads are
for electric power: positive (2-VCC, Red wire), negative (3-GND, Brown wire), and the signal
line (1-Signal, Orange wire), as represented in the Servo provided in your Kit.

We will use a 50Hz PWM signal with a duty cycle in a certain range to drive the Servo.
The lasting time of 0.5ms-2.5ms of PWM single cycle high level corresponds to the servo
angle 0 degrees - 180 degree linearly. Part of the corresponding values are as follows:
High level time Servo angle
0.5ms 0 degree
1ms 45 degree
1.5ms 0 degree
2ms 45 degree
2.5ms 180 degree
When you change the servo signal value, the servo will rotate to the designated angle.

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58 Chapter 2 www.freenove.c

Schematic
For this tutorial, the driver chip of the servo is controlled by the 0-7th output channels of the IIC
chip PCA9685. When driving the servos, it is necessary to initialize the PCA9685 chip first, and
then set the PWM value of the corresponding output channel to make its output voltage

drive the servo.

As can be seen from the above figure, channels 0-7 of PCA9685 are used to control servos.

Sketch
Download the code to ESP32 to make servo sweep back and forth.
Open “01.2_Servo” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double-click “01.2_Servo.ino”.

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 █ Chapter 2 Module test 59

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup()
4 {
5 PCA9685_Setup(); //Initialize PCA9685 to control Servo
6 Servo_1_Angle(90); //Set servo 1 Angle
7 Servo_2_Angle(90); //Set servo 2 Angle
8 delay(1000);
9 }
10
11 void loop()
12 {
13 // Servo 1 motion path; 90°- 0°- 180°- 90°
14 Servo_Sweep(1, 90, 0);
15 Servo_Sweep(1, 0, 180);
16 Servo_Sweep(1, 180, 90);
17
18 // Servo 2 motion path; 90°- 150°- 90°
19 Servo_Sweep(2, 90, 150);
20 Servo_Sweep(2, 150, 90);
21 }
Code Explanation
Add header file of servos. Each time before controlling servos, please add header file first.
1 #include "Freenove_4WD_Car_For_ESP32.h"
Initialize the servo driven chip.
5 PCA9685_Setup(); //Initialize PCA9685 to control Servo
Set the angle of the two servos to 90°.
6 Servo_1_Angle(90);
7 Servo_2_Angle(90);
Sweep function of the servos. Servo_id stands for the servo number, ranging from 1 to 2. Angle_start
represents the starting position of the servo when sweeping while angle_end is the ending
position. Note: the sweeping range of servo1 is 0-180°, and that of servo2 is 90-150°.
void Servo_Sweep(int servo_id, int angle_start, int angle_end);

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60 Chapter 2 www.freenove.c

2.3 Buzz
er

Buzzer
Buzzer is a sounding component, which is widely used in electronic devices such as
calculator, electronic warning clock and alarm. Buzzer has two types: active and passive. Active
buzzer has oscillator inside, which will sound as long as it is supplied with power. Passive
buzzer requires external oscillator signal (generally use PWM with different frequency) to
make a sound.

Active buzzer Passive buzzer

Active buzzer is easy to use. Generally, it can only make a specific frequency of sound. Passive
buzzer requires an external circuit to make a sound, but it can be controlled to make a sound
with different frequency. The resonant frequency of the passive buzzer is 2kHz, which means
the passive buzzer is loudest when its resonant frequency is 2kHz.

How to identify active and passive buzzer

1. Usually, there is a label on the surface of active buzzer covering the vocal hole, but this is not
an absolute judgment method.
2. Active buzzers are more complex than passive buzzers in their manufacture. There are
many circuits and crystal oscillator elements inside active buzzers; all of this is usually
protected with a waterproof coating (and a housing) exposing only its pins from the
underside. On the other hand, passive buzzers do not have protective coatings on their
underside. From the pin holes viewing of a passive buzzer, you can see the circuit board,
coils, and a permanent magnet (all or any combination of these components
depending on the model.
Active buzzer Passive buzzer

The buzzer used in this car is a passive buzzer that can make sounds with different frequence.

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 █ Chapter 2 Module test 61

Schematic
As we can see, the buzzer is controlled by GPIO2 of ESP32. When the buzzer receives
PWM signal, NPN will be activated to make the buzzer sound. When the buzzer receives
no signal, it will be controlled at low level by R2 and NPN won’t be activated, then the buzzer

won’t make any sounds.

Sketch
In this section, we will test the buzzer to make it sound like an alarm.
Open “01.3_Buzzer” folder in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches”, and then double-click
“01.3_Buzzer.ino”.

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62 Chapter 2 www.freenove.c

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup() {
4 Buzzer_Setup(); //Buzzer initialization function
5 Buzzer_Alert(4, 3);//Control the buzzer to sound
6 }
7
8 void loop() {
9 delay(1000);
10 }
After the program is downloaded to ESP32, the buzzer emits 4 short beeps, repeating for 3 times.

Each time when the switch is turned ON, the buzzer emits sounds.

Code Explanation
Configure the PWM of ESP32 to associate it with GPIO2 pin to control the buzzer to make
void Buzzer_Setup(void); //Buzzer initialization
sounds.
Control the buzzer to sound regularly. beat represents the number of times the buzzer sounds in
each
sounding cycle. Rebeat represents how many cycles the buzzer sounds.
void Buzzer_Alert(int beat, int rebeat);//Buzzer alarm function

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 █ Chapter 2 Module test 63

2.4 ADC
Module

ADC
ADC is an electronic integrated circuit used to convert analog signals such as voltages to digital
or binary form consisting of 1s and 0s. The range of our ADC on ESP32 is 12 bits, that
means the resolution is 2^12=4096, and it represents a range (at 3.3V) will be divided
equally to 4096 parts. The rage of analog values corresponds to ADC values. So the more
bits the ADC has, the denser the partition of analog will be and the greater the precision of the

resulting conversion.
Subsection 1: the analog in rang of 0V---3.3/4095 V corresponds to digital 0;
Subsection 2: the analog in rang of 3.3/4095 V---2*3.3 /4095V corresponds
to digital 1; The following analog will be divided accordingly.

Analog Voltage
The conversion formula is as follows:

𝐴𝐷𝐶 𝑉𝑎𝑙𝑢𝑒 = 3.3 ∗ 4095

Serial Communication
Serial communication uses one data cable to transfer data one bit by another in turn. Parallel
communication means that the data is transmitted simultaneously on multiple cables. Serial
communication takes only a few cables to exchange information between systems, which
is especially suitable for computers to computers, long distance communication between
computers and peripherals. Parallel communication is faster, but it requires more cables and
higher cost, so it is not appropriate for long distance communication.
Parallel communication Serial communication

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Serial communication generally refers to the Universal Asynchronous Receiver/Transmitter

(UART), which is commonly used in electronic circuit communication. It has two
communication lines, one is responsible for sending data (TX line) and the other for receiving
data (RX line). The serial communication connections of two devices use is as follows:
Device 1(Your computer) Device 2(control board)

RX RX
TX TX
Usb cable

For serial communication, the baud rate in both sides must be the same. The baud rates
commonly used are 9600 and 115200.
Computer identifies serial devices connected to your computer as COMx. We can use the
Serial Monitor window of Arduino Software to communicate with Freenove control
board.

Schematic
As we can see, the car reads the voltage of the batteries through GPIO32 of ESP32. Because
the battery voltage is not read frequently, this GPIO is also used to control the WS2812 LED.

The voltage acquisition range of GPIO32 on ESP32 is 0-3.3V, while the car is powered by
two 18650 lithium batteries, whose voltage is 8.4V when they are fully charged, which
exceeds the acquisition range of ESP32. Therefore, after passing through the voltage divider
circuit composed of R3 and R4, the voltage at A0/WS2812 will be about 1/4 of the battery
voltage, 8.4/4=2.1V, which is within the voltage collection range of GPIO32.

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 █ Chapter 2 Module test 65

Sketch
In this section, we will use GPIO32 of ESP32 to read the voltage value of the batteries and
print it on serial monitor. Open “01.4_Battery_level” folder in “Freenove_4WD_Car_Kit_for_ESP32\
Sketches” and then double-click “01.4_Battery_level.ino”.

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup() {
4 Serial.begin(115200); //Set the Serial Baud rate
5 }
6 void loop() {
7 Serial.print("Battery ADC : ");
8 Serial.println(Get_Battery_Voltage_ADC());//Gets the battery ADC value
9 Serial.print("Battery Voltage : ");
10 Serial.print(Get_Battery_Voltage()); //Get the battery voltage value
11 Serial.println("V");
12 delay(300);
13 }
Code Explanation
Activate the serial port and set the baud rate to 115200.
4 Serial.begin(115200); //Set the Serial Baud rate
Get ADC sampling value of GPIO32 and return it. The ADC has a range of 0-4095. The voltage
range collected
is 0-3.3V.
int Get_Battery_Voltage_ADC(void); //Gets the battery ADC value
Calculate the voltage of batteris and return it.
float Get_Battery_Voltage(void); //Get the battery voltage value
The default battery voltage coefficient is 3. Users can modify it by calling this function.

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void Set_Battery_Coefficient(float coefficient);//Set the partial pressure coefficient

Click “Upload” to upload the code to ESP32. After uploading successfully, click Serial Monitor

Upload Serial Monitor

Set baud rate to 115200.

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 █ Chapter 2 Module test 67

2.5 LED
Matrix
LED Matrix
A LED matrix is a rectangular display module that consists of a uniform grid of LEDs. The
following is an 8X8 monochrome LED matrix containing 64 LEDs (8 rows by 8 columns).

In order to facilitate the operation and reduce the number of ports required to drive this
component, the positive poles of the LEDs in each row and negative poles of the LEDs in
each column are respectively connected together inside the LED matrix module, which is
called a common anode. There is another arrangement type. Negative poles of the LEDs in
each row and the positive poles of the LEDs in each column are respectively connected
together, which is called a common cathode.
Connection mode of common anode Connection mode of common cathode

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68 Chapter 2 www.freenove.c

Schematic
For this tutorial, the LED matrix module is individual and it is driven by IIC chip.

A0 is connected.

The LED matrix is common anode. As we can see from the schematic above, the anode
of LED matrix is connected to ROWx of HT16K33 chip, and the cathode is connected to
COMx. The address of HT16K33 chip is (0x70+[A2:A0]), and the default address of LED
matrix is 0x71. If you want to change the address, you can use a knife to cut the connecting
line in the middle of A0, or connect A1/A2.
Front of LED Matrix Back of LED Matrix

Modify address

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 █ Chapter 2 Module test 69

We divide the LED matrix into two sides and display “+” on the left and “o” on the right. As
shown below, yellow stands for lit LED while other colors reprensent the OFF LED.

Below, the table on the left corresponds to the "+" above, and the table on the right
1
corresponds to the "o" above.
2 1 1 1 1
Row Binary
3 Hexadecimal
1 1 Row
1 1 Binary Hexadecimal
1 0000
4 1 1 0x00
1 1 1 1 1 1 10000 0x00
0000 0000
2 5
0001 1 1 1 1 1 1
0x18 1 2 10001 0x18
6
1000 1 1 1 1 1000
3 0001
7 0x18
1 1 31 1 0010 0x24
1000
8 0100
4 0111 0x7e 4 0100 0x42
1110 0010
5 0111 0x7e 5 0100 0x42
1110 0010

Sketch
The LED matrix is controlled by HT16K33 chip. Therefore, before opening the program, we need to
install Freenove_VK16K33_Lib_For_ESP32 library in advance.
Install Freenove_VK16K33_Lib_For_ESP32 Library
Click Sketch and select Add .ZIP Library in Include.

Select “Freenove_VK16K33_Lib_For_ESP32.zip” in the folder Libraries of the folder

“Freenove_4WD_Car_Kit_for_ESP32”.

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Install Processing
In this tutorial, we use Processing to build a simple Led Matrix platform.
If you have not installed Processing, you can download it by clicking
https://processing.org/download/. You can choose an appropriate version to download
according to your PC system.

Unzip the downloaded file to your computer. Click "processing.exe" as the figure below to run this

software.

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 █ Chapter 2 Module test 71

In the interface of Processing, click Sketch on Menu bar, select “Import Library...”and then click “Add

Library...”.
Enter “ControlP5” in the input field of the pop-up window. Click the searching result and then click
“install”

Enter ControlP5

Click the searching result.

Install

When the installation finishes, restart Processing.

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72 Chapter 2 www.freenove.c

Open the folder ESP32_Led_Matrix in 01.5_Matrix of the “Freenove_4WD_Car_Kit_for_ESP32\

Sketches”. Here we take Windows as an example. Click to open ESP32_Led_Matrix.pde.

Click “Run”

Run

There are 20 pages from A to T. Select Page A.

Select A

You can design your own pattern by clicking on the squares.

Click

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 █ Chapter 2 Module test 73

Next select Page B and click PREVIOUS. PREVIOUS will copy the previous pattern to B.

Select B Click
PREVIOUS

Click the squares to modify the pattern, and then click BLINKSHOW, you can browse the
overlay effect of different pages.

Modify pattern

Ciick
BLINKSHOW

Preview

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74 Chapter 2 www.freenove.c

Cick GETCODE to generate array.

GETCODE

The data on the left of the LED matrix are stored together and end with " x", and the data on
the right are
stored together and end with " y". Copy these two sets of dot matrix data and replace the array
content
in "01.5_Matrix.ino".

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 █ Chapter 2 Module test 75

Open the folder “01.5_Matrix” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double

click “01.5_Matrix.ino”
Code
1 #include "Freenove_VK16K33_Lib_For_ESP32.h"
2
3 #define EMOTION_ADDRESS 0x70
4 #define EMOTION_SDA 13
5 #define EMOTION_SCL 14
6
7 Freenove_ESP32_VK16K33 matrix = Freenove_ESP32_VK16K33();
8
9 byte x_array[][8] = {//Put the data into the left LED matrix
10 //////////////////////////////////////////////
11 0x00, 0x18, 0x24, 0x42, 0x42, 0x24, 0x18, 0x00, Replace the x array on
12 0x00, 0x18, 0x24, 0x5A, 0x5A, 0x24, 0x18, 0x00, the left
13 //////////////////////////////////////////////
14 };
15
16 byte y_array[][8] = {//Put the data into the right LED matrix
17 //////////////////////////////////////////////
18 0x00, 0x18, 0x24, 0x42, 0x42, 0x24, 0x18, 0x00, Replace the y array on
19 0x00, 0x18, 0x24, 0x5A, 0x5A, 0x24, 0x18, 0x00, the right
20 /////////////////////////////////////////////////
21 };
22
23 void setup()
24 {
25 matrix.init(EMOTION_ADDRESS, EMOTION_SDA, EMOTION_SCL);
26 matrix.setBlink(VK16K33_BLINK_OFF);
27 }
28
29 void loop()
30 {
31 int count = sizeof(x_array) / sizeof(x_array[0]);
32 for (int i = 0; i < count; i++)
33 {
34 matrix.showStaticArray(x_array[i], y_array[i]);
35 delay(500);
36 }
37 }
Copy the array generated by the auxiliary applet to the program, and then click upload.

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76 Chapter 2 www.freenove.c

Upload

You can see the LED matrix keep blinking like eyes.

Code Explanation
Add the header file of LED matrix. Each time before controlling LED matrix, please add its header file
1 #include "Freenove_VK16K33_Lib_For_ESP32.h"
first.
Apply for an Freenove_ESP32_VK16K33 object and name it matrix.
7 Freenove_ESP32_VK16K33 matrix = Freenove_ESP32_VK16K33();
Define IIC address and IIC pins of HT16K33 chip. Call init() function to initialize it and call
setBlink() to set the LED matrix not blink.
3 #define EMOTION_ADDRESS 0x70
4 #define EMOTION_SDA 13
5 #define EMOTION_SCL 14
… ...
25 matrix.init(EMOTION_ADDRESS, EMOTION_SDA, EMOTION_SCL);
26 matrix.setBlink(VK16K33_BLINK_OFF);
Define count to calculate the number of one-dimensional arrays contained in the two-
dimensional x_array, and use the for loop to call the showStaticArray() function to continuously
display the content of LED matrix.
31 int count = sizeof(x_array) / sizeof(x_array[0]);
32 for (int i = 0; i < count; i++)
33 {
34 matrix.showStaticArray(x_array[i], y_array[i]);
35 delay(500);
36 }

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 █ Chapter 2 Module test 77

2.6 WS2812

WS2812
Red, green, and blue are called the three primary colors. When you combine these three
primary colors of different brightness, it can produce almost all kinds of visible light.

RGB
The LED of the car is composed of 12 WS2812, each of which is controlled by one
pin and supports cascading. Each WS2812 can emit three basic colors of red, green
and blue, and supports 256-level brightness adjustment, which means that each
WS2812 can emit 2^24=16,777,216 different colors.

WS2812: 4-6 WS2812: 7-9

WS2812: 1-3 WS2812:10-12

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78 Chapter 2 www.freenove.c

Schematic
As shown below, the DOUT of each WS2812 is connected with DIN of the next
WS2812, and the 12 WS2812 can be controlled to emit colorful colors by inputting control
signals through A0/WS2812.

Sketch
Before programming, please make sure the WS2812 driver library has been installed. If not,
please install it as follows.
Open Arduino IDE, select Sketch on Menu bar, move the mouse to Include library and click
Manage Libraries.

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 █ Chapter 2 Module test 79

Enter Freenove_WS2812_Lib_for_ESP32 in the input field of the pop-up window, find it and then

click Install.
Wait for the installation to finish.
Next we will download the code to ESP32 to test the LED. Open the folder “01.6_WS2812” in the
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and then double click “01.6_WS2812.ino”.

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80 Chapter 2 www.freenove.c

Cod
e
#include "Freenove_WS2812_Lib_for_ESP32.h"
1
2 #define LEDS_COUNT 12 //Define the count of
3 WS2812 #define LEDS_PIN 32 //Define the pin
4 number for ESP32
5 #define CHANNEL 0 //Define the channels that control WS2812
6 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(LEDS_COUNT, LEDS_PIN, CHANNEL,
7 TYPE_GRB);
8
9 void setup() {
10 strip.begin(); //Initialize WS2812
11 strip.setBrightness(10);//Set the brightness of WS2812
12 }
13
14 void loop() {
15 for (int j = 0; j < 255; j += 2) {
16 for (int i = 0; i < LEDS_COUNT; i++) {
17 strip.setLedColorData(i, strip.Wheel((i * 256 / LEDS_COUNT + j) &
255));//Set the color of the WS2812
18 }
19 strip.show(); //Call WS2812 to display colors
20 delay(5);
21 }
}
Download the code to the ESP32, turn ON the power switch and the WS2812 on the
car will emit lights like rainbow.
Code Explanation：
Add the header file of WS2812. Each time before controlling WS2812, please add its header file.
1 #include "Freenove_WS2812_Lib_for_ESP32.h"
Set the number of WS2812, define the control pin and channel. Instantiate a WS2812 object and
name it
strip.
3 #define LEDS_COUNT 12 //Define the count of WS2812
4 #define LEDS_PIN 32 //Define the pin number for ESP32
5 #define CHANNEL 0 //Define the channels that control WS2812
6 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(LEDS_COUNT, LEDS_PIN,
CHANNEL, TYPE_GRB);
Initialize WS2812, set their brightness to be 10. The range of brightness is 0-255.
9 strip.begin();//Initialize WS2812
10 strip.setBrightness(10);//Set the brightness of WS2812
Set the color of WS2812. Note: The color will not be displayed immediately after it is set.
16 strip.setLedColorData(i, strip.Wheel((i * 256 / LEDS_COUNT + j) & 255));
Display the color of WS2812. After setting the color, you need to call show function to display it.
18 strip.show();

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 █ Chapter 3 Ultrasonic Obstacle Avoidance Car

Chapter 3 Ultrasonic Obstacle Avoidance Car

This chapter requires to replace the head pan-tilt. Please follow the instructions below to replace
the head of the car with an ultrasonic head before use.
In the whole tutorial, only Chapter 3 uses the ultrasonic pan-tilt. Please replace the head pan-tilt
back to the LED matrix after finishing this chapter.

3.1 Ultra
sonic Module

Replace Pan-tilt

Step 1

M2*4

Remove M2*4 screws to uninstall the pan-tilt.

Step 2

M2 nut

M2*16

Remove the M2*16 screws and M2 nuts on both sides of the Pan-tilt.

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82 Chapter 3 Ultrasonic Obstacle www.freenove.c

Step 3
M1.4*6

Remove the 4 M1.4*6 screws on the LED matrix module.

Step 4

Use 4 M1.4*6 screws to fix the ultrasonic module to the Pan-tilt.

Step 5

Install M2*16 screws and M2 nuts on both sides of the Pan-tilt.

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 █ Chapter 3 Ultrasonic Obstacle Avoidance Car

Step 6

M2 nut

M2*16

Use 1 M2*16 and 1 M2 nut to fix the three acrylic boards together.

Step 7

M2*4

Use M2*4 screws to fix the ultrasonic pan-tilt to the servo motor 2. Please note that you
need to adjust the servo motor to a position of 90 degrees before fixing the pan-tilt to it.

After finished

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84 Chapter 3 Ultrasonic Obstacle www.freenove.c

Wiring of the Pan-tilt

Module Gnd Echo Trig Vcc

GND ECHO TRIG VCC
Car
GND 15 12 VCC

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 █ Chapter 3 Ultrasonic Obstacle Avoidance Car

Ultrasonic Module
The ultrasonic ranging module uses the principle that ultrasonic waves will be sent back
when encounter obstacles. We can measure the distance by counting the time interval
between sending and receiving of the ultrasonic waves, and the time difference is the total
time of the ultrasonic wave’s journey from being transmitted to being received. Because the
speed of sound in air is a constant, about v=340m/s, we can calculate the distance between
the ultrasonic ranging module and the obstacle: s=vt/2.

2S=V·t.

The HC-SR04 ultrasonic ranging module integrates both an ultrasonic transmitter and a
receiver. The transmitter is used to convert electrical signals (electrical energy) into high frequency
(beyond human hearing) sound waves (mechanical energy) and the function of the receiver
is opposite of this. The picture and the diagram of the HC SR04 ultrasonic ranging module
are shown below:

Pin description:
Pin Description
VCC Power supply
pin
Trig Trigger pin
Echo Echo pin
GND GND
Technical specs:
Working voltage: 5V Working current: 12mA
Minimum measured distance: 2cm Maximum measured distance: 200cm
Instructions for use: output a high-level pulse in Trig pin lasting for least 10us, the module
begins to transmit ultrasonic waves. At the same time, the Echo pin is pulled up. When the
module receives the returned ultrasonic waves from encountering an obstacle, the Echo pin
will be pulled down. The duration of high level in the Echo pin is the total time of the ultrasonic
wave from transmitting to receiving, s=vt/2.

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86 Chapter 3 Ultrasonic Obstacle www.freenove.c

Schematic
The ultrasonic module is located at the front of the car and is connected to the ESP32
development board by means of wiring. As can be seen from the figure below, ESP32
uses GPIO12 and GPIO15 to control the Trig and Echo pins of the ultrasonic module.

Sketch
When the power of the car is turned ON, every module will be initialized and the servo
motor will rotate to 90°. The ultrasonic data will be obtained and printed through serial port as
the servo motor rotates.
Open the folder “02.1_Ultrasonic_Ranging” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and
double click “02.1_Ultrasonic_Ranging.ino”
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 void setup() {
5 Serial.begin(115200);//Open the serial port and set the baud rate to 115200
6 Ultrasonic_Setup(); //Ultrasonic module initialization
7 PCA9685_Setup(); //Servo motor initialization
8 Servo_1_Angle(90); //Set the initial value of Servo 1 to 90 degrees
9 Servo_2_Angle(90); //Set the initial value of Servo 2 to 90 degrees
10 delay(500); //Wait for the servo to arrive at the specified location
11 }
12
13 void loop() {
14 Servo_1_Angle(150); //Turn servo 1 to 150 degrees

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 █ Chapter 3 Ultrasonic Obstacle Avoidance Car

15 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic

distance
16 delay(500);
17
18 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
19 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic
distance
20 delay(500);
21
22 Servo_1_Angle(30); //Turn servo 1 to 30 degrees
23 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic
distance
24 delay(500);
25
26 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
27 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic
distance
28 delay(500);
29 }
Code Explanation：
Initialize ultrasonic module and PCA9685 chip.
6 Ultrasonic_Setup(); //Ultrasonic module initialization
7 PCA9685_Setup(); //Servo motor initialization
Obtain the distance between ultrasonic module and the obstacle and return a real number data in
cm.
15 Get_Sonar()
Rotate the angle of the servo motor 1 and cooperate with the ultrasonic module to obtain distance
14 Servo_1_Angle(150); //Turn servo 1 to 150 degrees
… 18 ...
… 22 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
… 26 ...
Servo_1_Angle(30); //Turn servo 1 to 30 degrees
...
Servo_1_Angle(90); //Turn servo 1 to 90 degrees
data.

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88 Chapter 3 Ultrasonic Obstacle www.freenove.c

Click “Upload” to upload the code to ESP32. After uploading successfully, click Serial Monitor.

Upload Serial Monitor

Set the baud rate as 115200.

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 █ Chapter 3 Ultrasonic Obstacle Avoidance Car

3.2 Ultra
sonic car
After starting the car, the ultrasound acquires data in various directions, makes judgments
based on the data in each direction, and controls the car to avoid obstacles.

Sketch
Open the folder “02.2_Ultrasonic_Ranging_Car”in “Freenove_4WD_Car_Kit_for_ESP32\Sketches”
and double click “02.2_Ultrasonic_Ranging_Car.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 #define OBSTACLE_DISTANCE 40
5 #define OBSTACLE_DISTANCE_LOW 20
6 int distance[4]; //Storage of ultrasonic data
7
8 void setup() {
9 Ultrasonic_Setup();//Initialize the ultrasonic module
10 PCA9685_Setup(); //PCA9685 chip initializes
11 }
12
13 void loop()
14 {
15 get_distance(1);//Get multiple Angle distance data
16 //There is no obstacle within 40cm of the front of the car
17 if (distance[1] > OBSTACLE_DISTANCE){
18 //There is an obstacle on the right
19 if (distance[0] >= distance[2] && distance[2] < OBSTACLE_DISTANCE_LOW)
20 Motor_Move(-1000, -1000, 2000, 2000);
21 //There is an obstacle on the left
22 else if (distance[0] < distance[2] && distance[0] < OBSTACLE_DISTANCE_LOW)
23 Motor_Move(2000, 2000, -1000, -1000);
24 else //There are no obstacles around
25 Motor_Move(1000, 1000, 1000, 1000);
26 delay(20);
27 }
28 else if (distance[1] < OBSTACLE_DISTANCE){ //There is an obstacle ahead
29 Motor_Move(0, 0, 0, 0); //Stop the car to judge the situation
30 get_distance(2);
31 if (distance[1] < OBSTACLE_DISTANCE_LOW) //The car got too close to the obstacle
32 Motor_Move(-1000, -1000, -1000, -1000);
33 else if (distance[0] < distance[2]) //There is also an obstacle on the left

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34 Motor_Move(2000, 2000, -2000, -2000);

35 else if (distance[0] > distance[2]) //There is also an obstacle on the
right
36 Motor_Move(-2000, -2000, 2000, 2000);
37 delay(200);
38 }
39 }
40
41 //Get distance values for different angles
42 void get_distance(int car_mode)
43 {
44 int add_angle=30;
45 if(car_mode==1)
46 add_angle=0;
47 else
48 add_angle=30;
49 Servo_2_Angle(90);
50 Servo_1_Angle(120+add_angle);
51 delay(100);
52 distance[0] = Get_Sonar();//Get the data on the left
53 Servo_1_Angle(90);
54 delay(100);
55 distance[1] = Get_Sonar();//Get the data in the middle
56 Servo_1_Angle(60-add_angle);
57 delay(100);
58 distance[2] = Get_Sonar();//Get the data on the right
59 Servo_1_Angle(90);
60 delay(100);
61 distance[1] = Get_Sonar();//Get the data in the middle
62 }
Code Explanation：
Define an array to store the distance data of the front left, middle, and front right of the car
6 int distance[4]; //Storage of ultrasonic data
The function to get the distance between obstacles and cars. When car_mode is 1, the scanning
range is 60-
120 degrees; when car_mode is 2, the scanning range is 30-150 degrees.
41 //Get distance values for different angles void get_distance(int car_mode)
42 {...}
…
Control the movement function of the car, the parameter range is -4095-4095. When the
parameter is a
positive number, the motor rotates forward, and vice versa. The greater the absolute value of
the parameter, the more powerful the car will be.
Motor_Move(M1, M2, M3, M4)

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 █ Chapter 4 Light Tracing Car 91

Chapter 4 Light Tracing Car

4.1 Phot
oresistor ADC
The photoresistor is very sensitive to the amount of light present. We can use this feature to
make a light- tracing car. The car is controlled to trun toward the light source by reading the
ADC values of the two photoresistors at the head of the car. Before we start, let us learn how
to read the photoresistor value.

Photoresistor
A photoresistor is simply a light sensitive resistor. It is an active component that decreases
resistance with respect to receiving luminosity (light) on the component's light sensitive surface.
A photoresistor’s resistance value will change in proportion to the ambient light detected. With
this characteristic, we can use a photoresistor to detect light intensity. The photoresistor and its
electronic symbol are as follows.

The circuit below is used to detect the change of a photoresistor’s resistance value:

In the above circuit, when a photoresistor’s resistance vale changes due to a change in light
intensity, the voltage between the photoresistor and resistor R1 will also change. Therefore, the
intensity of the light can be obtained by measuring this voltage.

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92 Chapter 4 Light www.freenove.c

Schematic
The photoresistors are distributed on both sides of the car’s head, and the ADC value collection
range of A1 is 0-4095. It can be seen from the circuit that when the brightness of the light
received by the photoresistor R13 and R14 is the same, the voltage at A1 is 3.3/2*4096, which
is 2048. Therefore, when the brightness of the light received by the two photoresistors is
different, the value read by the ADC will be greater or less than this value.

Sketch
Next we download the code to ESP32 to test the photoresistors. Open the folder
“03.1_Photosensitive” in
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click “03.1_Photosensitive.ino”
Code
1 #define PHOTOSENSITIVE_PIN 33 //Define the pins that ESP32 reads photosensitive
2 int photosensitiveADC; //Defines a variable to store ADC values
3
4 void setup()
5 {
6 pinMode(PHOTOSENSITIVE_PIN, INPUT);//Configure the pins for input mode
7 Serial.begin(115200); //Initialize the serial port and set the baud rate to
115200
8 }
9
10 void loop()
11 {
12 photosensitiveADC = analogRead(PHOTOSENSITIVE_PIN);//Read the photosensitive
resistance
value
13 Serial.print("photosensitiveADC: ");
14 Serial.println(photosensitiveADC); //Print photosensitive
resistance value
15 delay(500);

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 █ Chapter 4 Light Tracing Car 93

16 }
Code Explanation：
Define the pin to read photoresistors.
1 #define PHOTOSENSITIVE_PIN 33 //Define the pins that ESP32 reads photosensitive
Call analogRead to read the differential value of the photoresistors and store it in the photosensitiveADC.
12 photosensitiveADC = analogRead(PHOTOSENSITIVE_PIN);//Read the photosensitive resistance v
Print the photoresistor value through the serial port.
13 Serial.print("photosensitiveADC: ");
14 Serial.println(photosensitiveADC); //Print photosensitive resistance valu
Click “Upload” to upload the code to ESP32. When finishes uploading, click Serial Monitor.

Upload Serial Monitor

Set baud rate as 115200.

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94 Chapter 4 Light www.freenove.c

4.2 Light
Tracing Car

When light shines on R13, the resistance value of R13 becomes smaller, and the ADC
value of photoresistor becomes larger; when light shines on R14, the resistance value of R14
becomes smaller, and the ADC value of photoresistor becomes smaller. Based on that,
when the ADC value is detected to be less than 2048, it
R13
R indicates that the light source is on the left of the car, and when the ADC value is 4
greater than 20 means that the light source is on the right of the car.

Sketch
When car is powered ON, the ADC value of the current environment will be obtained.
After initialization, the buzzer will sound once to remind users to test the light-tracing function.
When users approach the car with light source the car, the car will turn with the light source.

Open the folder “03.2_Photosensitive_Car” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and

double click “03.2_Photosensitive_Car.ino”
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 int photosensitive_sensitivity = 100;//Set the sensitivity of the
photosensitive
5 int photosensitive_init_value = 0; //Set the car's initial environment ADC
value
6
7 void setup(){
8 Emotion_Setup(); //Emotion initialization
9 Buzzer_Setup(); //Buzzer initialization
10 Photosensitive_Setup(); //Photosensitive initialization
11 PCA9685_Setup(); //Initialize PCA9685 to control motor
12 photosensitive_init_value = Get_Photosensitive();
13 Buzzer_Alert(1,1); //The buzzer beeps to prompt the user to start
playing
14 }
15
16 void loop(){
17 //There is a light source on the left side of the car

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█ Chapter 4 Light Tracing Car 95

18 if (Get_Photosensitive() < (photosensitive_init_value -

photosensitive_sensitivity)){
19 wheel(2,100);

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20 Motor_Move(-2000, -2000, 2000, 2000);

21 }
22 //There is a light source on the right side of the car
23 else if (Get_Photosensitive() > (photosensitive_init_value + photosensitive_sensitivity
24 wheel(1,100);
25 Motor_Move(2000, 2000, -2000, -2000);
26 }
27 //The light is in the middle of the car
else{
28
eyesBlink(100); Motor_Move(0, 0, 0, 0);
29
}
30 }
31
32

Code Explanation：
Set the sensitivity of the photoresistor. You can adjust the value according to the change of the
environment. The value is recommended to be between 30-300.
4 int photosensitive_sensitivity = 100;//Set the sensitivity of the photosensitive
Initialize Emotion led matrix, buzzer, photoresistor and motor.
8 Emotion_Setup(); //Emotion initialization
9 Buzzer_Setup(); //Buzzer initialization
10 Photosensitive_Setup(); //Photosensitive initialization
11 PCA9685_Setup(); //Initialize PCA9685 to control motor
Get the ADC value of ambient light during initialization.
12 photosensitive_init_value = Get_Photosensitive();
Determine the relative position of the light source and the car.
18 if (Get_Photosensitive() < (photosensitive_init_value -
photosensitive_sensitivity))
… ...
23 else if (Get_Photosensitive() > (photosensitive_init_value +
photosensitive_sensitivity))
… ...
28 else

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96 Chapter 5 Line www.freenove.c

Chapter 5 Line Tracking Car

5.1 Line
tracking sensor

Track Sensor
There are three Reflective Optical Sensors on this car. When the infrared light emitted by
infrared diode shines on the surface of different objects, the sensor will receive light with different
intensities after reflection.
As we know, black objects absorb light better. So when black lines are drawn on the white
plane, the sensor can detect the difference. The sensor can also be called Line Tracking Sensor.
Warning:
Reflective Optical Sensor (including Line Tracking Sensor) should be avoided using in
environment with infrared interference, like sunlight. Sunlight contains a lot of invisible light such
as infrared and ultraviolet. Under environment with intense sunlight, Reflective Optical Sensor
cannot work normally.
The following table shows the values of all cases when three Tracking Sensors detect objects
of different colors. Among them, black objects or no objects were detected to represent 1, and
white objects were detected to represent 0.
Left Middle Right Value(binary) Value(decimal)
0 0 0 000 0
0 0 1 001 1
0 1 0 010 2
0 1 1 011 3
1 0 0 100 4
1 0 1 101 5
1 1 0 110 6
1 1 1 111 7

Sketch

The car calls the PCF8574 library file, if you haven’t installed it yet, please install it first.
Click “Sketch”, select “Include Library” and then select Add .ZIP Library...”.

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 █ Chapter 5 Line Tracking Car 97

Input “PCF8574” in the searching field and find the library marked below, click “Install”.

The line tracking module is connected to the PCF8574. The ESP32 obtains whether the
three channels of the line tracking module are triggered by reading the IO value of the
PCF8574, and prints it out through the serial port.
Open the folder “04.1_Tracking_Sensor” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and
double click “04.1_Tracking_Sensor.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 void setup() {
5 Serial.begin(115200); //set baud rate
6 Track_Setup();
7 }
8
9 void loop() {
10 Track_Read();
11 Serial.print("Sensor Value (L / M / R / ALL) : ");
12 for (int i = 0; i < 4; i++) {
13 Serial.print(sensorValue[i]);
14 Serial.print('\t');
15 }
16 Serial.print('\n');
17 delay(500);
18 }

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98 Chapter 5 Line www.freenove.c

Code Explanation：
Initialize PCF8574 chip.
6 Track_Setup();
The function that obtains the tracking module feedback value. After calling this function, ESP32 will
store the
data in the array sensorValue[].
10 Track_Read();
Print the obtained feedback value through serial port.
11 Serial.print("Sensor Value (L / M / R / ALL) : ");
12 for (int i = 0; i < 4; i++) {
13 Serial.print(sensorValue[i]);
14 Serial.print('\t');
15 }
16 Serial.print('\n');
Click “Upload” to upload to code to ESP32 development board. After uploading successfully,
click “Serial Monitor”.

Serial
Upload Monitor

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 █ Chapter 5 Line Tracking Car 99

5.2 Line
Tracking Car
The car will make different actions according to the value transmitted by the line-tracking sensor.

Left Middle Right Value(binary) Value(decimal) Action

0 0 0 000 0 Stop
0 0 1 001 1 Turn Left
0 1 0 010 2 Move Forward
0 1 1 011 3 Turn Left
1 0 0 100 4 Turn Right
1 0 1 101 5 Move Forward
1 1 0 110 6 Turn Right
1 1 1 111 7 Stop
Turn on the power. Use a black tape to build a line and then put your car on it as below.

Sketch
Open the folder “ 04.2_Track_Car” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click
“04.2_Track_Car.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 #define SPEED_LV4 ( 4000 )
5 #define SPEED_LV3 ( 3000 )

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100 Chapter 5 Line www.freenove.c

6 #define SPEED_LV2 ( 2500 )

7 #define SPEED_LV1 ( 1500 )
8
9 void setup(){
10 Track_Setup(); //Trace module initialization
11 PCA9685_Setup(); //Motor drive initialization
12 Emotion_Setup(); //Emotion initialization
13 }
14
15 void loop(){
16 Track_Read();
17 switch (sensorValue[3])
18 {
19 case 2: //010
20 case 5: //101
21 showArrow(1, 100);
22 Motor_Move(SPEED_LV1, SPEED_LV1, SPEED_LV1, SPEED_LV1); //Move Forward
23 break;
24 case 0: //000
25 case 7: //111
26 eyesBlink1(100);
27 Motor_Move(0, 0, 0, 0); //Stop
28 break;
29 case 4: //100
30 case 6: //110
31 wheel(2, 100);
32 Motor_Move(SPEED_LV4, SPEED_LV4 , - SPEED_LV3, -SPEED_LV3);//Turn Right
33 break;
34 case 1: //001
35 case 3: //011
36 wheel(1, 100);
37 Motor_Move(-SPEED_LV3, -SPEED_LV3, SPEED_LV4, SPEED_LV4); //Turn Left
38 break;
39 default:
40 break;
41 }
42 }
Code Explanation：
Initialize PCF8574 chip, PCA9685 chip, Emotion module.
10 Track_Setup(); //Trace module initialization
11 PCA9685_Setup(); //Motor drive initialization
12 Emotion_Setup(); //Emotion initialization

The function that obtains the tracking module feedback value. After calling this function, ESP32 will
store the

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 █ Chapter 5 Line Tracking Car

data in the array sensorValue[].

16 Track_Read();
Control the car to move forward, turn left, turn right, stop, etc. based on the value of line tracking
module.
17 switch (sensorValue[3])
18 {
19 case 2: //010
20 case 5: //101
21 showArrow(1, 100);
22 Motor_Move(SPEED_LV1, SPEED_LV1, SPEED_LV1, SPEED_LV1); //Move Forward
23 break;
24 case 0: //000
case 7: //111
25
eyesBlink1(100);
26
Motor_Move(0, 0, 0, 0); //Stop
27 break;
28 case 4: //100
29 case 6: //110
30 wheel(2, 100);
31 Motor_Move(SPEED_LV4, SPEED_LV4 , - SPEED_LV3, -SPEED_LV3);//Turn Right
32 break;
33 case 1: //001 case 3: //011
34 wheel(1, 100);
35 Motor_Move(-SPEED_LV3, -SPEED_LV3, SPEED_LV4, SPEED_LV4); //Turn Left
36 break;
37 default:
38 break;
39 }
40
41

Note: The tracks made of black tape vary from different people. If your car cannot move
along the black tape, you can modify the parameters in Motor_Move().

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102 Chapter 6 Infrared www.freenove.c

Chapter 6 Infrared Car

6.1 Intro
duction of infrared reception function
Infrared Remote
An infrared(IR) remote control is a device with a certain number of buttons. Pressing down
different buttons will make the infrared emission tube, which is located in the front of the
remote control, send infrared ray with different command. Infrared remote control
technology is widely used in electronic products such as TV, air conditioning, etc. Thus making
it possible for you to switch TV programs and adjust the temperature of the air conditioning
when away from them. The remote control we use is shown below:

Pull out

Infrared receiver
An infrared(IR) receiver is a component which can receive the infrared light, so we can use it
to detect the signal emitted by the infrared remote control. DATA pin here outputs the
received infrared signal.

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 █ Chapter 6 Infrared Car 103

When you use the infrared remote control, the infrared remote control sends a key value to
the receiving circuit according to the pressed keys. We can program the ESP32-
WROVER to do things like lighting, when a key value is received.
The following is the key value that the receiving circuit will receive when each key of the
infrared remote control is pressed.
ICON KEY Value ICON KEY Value
FFA25D / E318261B FFB04F / F0C41643

FFE21D / EE886D7F FF30CF / 9716BE3F

FF22DD / 52A3D41F FF18E7 / 3D9AE3F7

FF02FD / D7E84B1B FF7A85 / 6182021B

FFC23D / 20FE4DBB FF10EF / 8C22657B

FFE01F / F076C13B FF38C7 / 488F3CBB

FFA857 / A3C8EDDB FF5AA5 / 449E79F

FF906F / E5CFBD7F FF42BD / 32C6FDF7

FF6897 / C101E57B FF4AB5 / 1BC0157B

FF9867 / 97483BFB FF52AD / 3EC3FC1B

This sketch uses the infrared receiving tube to receive the value sent form the infrared remote
control, and print it out via the serial port.

Sketch
We use the third party library IRremoteESP8266. If you haven't installed it yet, please do so first.
The steps to add third-party Libraries are as follows: open arduino->Sketch->Include library->
Manage libraries. Enter "IRremoteESP8266" in the search bar and select "
IRremoteESP8266" for installation.
Refer to the following operations:

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Each time when you press the infrared remote control, the car will print the received infrared
coding value through serial port.

Open the folder “ 05.1_IR_Receiver ” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click

“05.1_IR_Receiver.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5
6 #define RECV_PIN 0 // Infrared receiving pin
7 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
8 decode_results results; // Create a decoding results class object
9
10 void setup()
11 {
12 Serial.begin(115200); // Initialize the serial port and set the baud
rate to 115200
13 irrecv.enableIRIn(); // Start the receiver
14 Serial.print("IRrecvDemo is now running and waiting for IR message on Pin ");
15 Serial.println(RECV_PIN); //print the infrared receiving pin
16 }
17
18 void loop()
19 {

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20 if (irrecv.decode(&results)) { // Waiting for decoding

21 unsigned long value = results.value;
22 Serial.println(value,HEX); // Print out the decoded results
23 irrecv.resume(); // Release the IRremote. Receive the
next value
24 }
25 delay(100);
26 }
Download the code to ESP32-WROVER, open the serial port monitor, set the baud rate to
115200, press the IR remote control, the pressed keys value will be printed out through the
serial port. As shown in the following figure: (Note that when the remote control button is
pressed for a long time, the infrared receiving circuit receives a continuous high level, that is, it

Normal

Abnormal

receives a hexadecimal "F")

First, include header file. Each time you use the infrared library, you need to include the header file at the
beginning of the program.
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
Second, define an infrared receive pin and associates it with the receive class. Apply a
decode_results to decode the received infrared value.
6 #define RECV_PIN 0 // Infrared receiving pin
7 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
8 decode_results results; // Create a decoding results class object
Third, enable infrared reception function, if you do not use this function, you won't receive the
value from the infrared remote control.
13 irrecv.enableIRIn(); // Start the receiver

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Finally, put the received data into the results class and print out the data through the serial port.
Note that you must use resume() to release the infrared receive function every time when you
receive data, otherwise you can only use the infrared receive function once and cannot receive
the data next time.
18 void loop() {
19 if (irrecv.decode(&results)) { // Waiting for decoding
20
21 serialPrintUint64(results.value, HEX); // Print out the decoded results
22 Serial.println("");
23 irrecv.resume(); // Release the IRremote. Receive the next value
}
24
delay(1000);
25

}
Reference
class IRrecv You need to add the library each time you use the Infrared Reception.
IRrecv irrecv(Pin)：Create a class object used to receive class, and associated with Pin.
enableIRIn()：Before using the infrared decoding function, enable the infrared receiving function.
Otherwise the correct data will not be received.
decode(&results): Determine whether the infrared has received data, and if so, return true and store
the data in the decode_results class. If no data is received, false is returned.
resume()：Release the IRremote. Or, the infrared reception and decoding function cannot be used
again.
For more information about Infrared Remote Control, please visit:
https://github.com/crankyoldgit/IRremoteESP8266/tree/master/src

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 █ Chapter 6 Infrared Car 107

6.2 Infrar
ed Car
On the basis of the previous section, we use the infrared remote control to control the car. Press
the black button on the infrared remote control to control the car to move forward, backward,
turn left, and turn right. Press the other buttons and the cart stops moving.

Sketch
Open the folder “05.2_IR_Receiver_Car” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and
double click “05.2_IR_Receiver_Car.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6
7 #define RECV_PIN 0 // Infrared receiving pin
8 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
9 decode_results results; // Create a decoding results class object
10 int motor_speed = 3000;
11 int emotionMode = 4;
12 int motor_flag = 0;
13
14 void setup(){
15 irrecv.enableIRIn(); //Initialize the infrared receiving pin
16 PCA9685_Setup(); //Initializes the motor control chip
17 Emotion_Setup(); //Initializes Emotion module
18 }
19
20 void loop(){
21 if (irrecv.decode(&results)) { // Waiting for decoding
22 handleControl(results.value); // Handle the commands from remote control
23 irrecv.resume();
24 }
25 showEmotion(emotionMode);
26 }
27
28 void handleControl(unsigned long value) {
29 // Handle the commands
30 switch (value) {
31 case 0xFF02FD:// Receive the number '+'
32 motor_flag = 1;

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33 Motor_Move(motor_speed, motor_speed, motor_speed, motor_speed); // Go

forward
34 delay(200);
35 Motor_Move(0, 0, 0, 0);
36 break;
37 case 0xFF9867:// Receive the number '-'
38 motor_flag = 2;
39 Motor_Move(-motor_speed, -motor_speed, -motor_speed, -motor_speed); //
Back up
40 delay(200);
41 Motor_Move(0, 0, 0, 0);
42 break;
43 case 0xFFE01F:// Receive the number '|<<'
44 motor_flag = 3;
45 Motor_Move(-motor_speed, -motor_speed, motor_speed, motor_speed); //
Turn left
46 delay(200);
47 Motor_Move(0, 0, 0, 0);
48 break;
49 case 0xFF906F:// Receive the number '>>|'
50 motor_flag = 4;
51 Motor_Move(motor_speed, motor_speed, -motor_speed, -motor_speed); //
Turn right
52 delay(200);
53 Motor_Move(0, 0, 0, 0);
54 break;
55 case 0xFF6897:// Receive the number '0'
56 emotionMode = millis() % 10;
57 break;
58 case 0xFFFFFFFF:// Remain unchanged
59 if (motor_flag == 1)
60 Motor_Move(motor_speed, motor_speed, motor_speed, motor_speed); //
Go forward
61 else if (motor_flag == 2)
62 Motor_Move(-motor_speed, -motor_speed, -motor_speed, -motor_speed); //
Back up
63 else if (motor_flag == 3)
64 Motor_Move(-motor_speed, -motor_speed, motor_speed, motor_speed); //
Turn left
65 else if (motor_flag == 4)
66 Motor_Move(motor_speed, motor_speed, -motor_speed, -motor_speed); //
Turn right
67 else
68 Motor_Move(0, 0, 0, 0);
69 break;
70 default: // Control the car to stop moving
71 motor_flag = 0;
72 Motor_Move(0, 0, 0, 0); //stop

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73 break;
74 }
75 }
Compile and upload the code to the ESP32-WROVER. When pressing "0", "1", "2", "3" of the
infrared remote

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control, the buzzer will sound once, and the brightness of the LED light will change correspondingly.

Move forward

Turn left

Turn right

Move back

Code Explanation:
Call the decode function to obtain the infrared remote control coding information, and call the
handleControl function to execute actions corresponding to different code values. After each
execution of the program, call the resume function to release the infrared pin. If this function is
not called, the infrared receiving and decoding functions cannot be used again.
20 void loop(){
21 if (irrecv.decode(&results)) { // Waiting for decoding
22 handleControl(results.value); // Handle the commands from remote control
23 irrecv.resume();
24 }
25 showEmotion(emotionMode);
26 }
Infrared key code value processing function, received the infrared remote control sent
instructions, the execution of the corresponding program.
28 void handleControl(unsigned long value) {
29 // Handle the commands
30 switch (value) {
31 case 0xFF02FD:// Receive the number '+'
...
...
case 0xFF9867:// Receive the number '-'
37
...
...

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43 case 0xFFE01F:// Receive the number '|<<'

... ...
49 case 0xFF906F:// Receive the number '>>|'
... ...
55 case 0xFF6897:
... ...
58 case 0xFFFFFFFF:// Remain unchanged
... ...
70 default: // Control the car to stop moving
... ...
74 }
75 }

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6.3 Multi
-Functional Infrared Car
On the basis of the last section, we integrate other functions of the car into the infrared car, and
most of the functions of the car can be controlled by the infrared remote control.

Sketch
Open the folder “05.3_Multi_Functional_Car” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches”
and double click “05.3_Multi_Functional_Car.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6 #include "Freenove_4WD_Car_Emotion.h"
7 #include "Freenove_WS2812_Lib_for_ESP32.h"
8
9 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(12, 32, 0, TYPE_GRB);
10 u8 m_color[5][3] = { {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {255, 255, 255},
{0, 0, 0} };
11 #define RECV_PIN 0 // Infrared receiving pin
12 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
13 decode_results results; // Create a decoding results class object
14
15 static int servo_1_angle=90;
16 static int servo_2_angle=90;
17 static int emotion_flag=0;
18 static int ws2812_flag=0;
19
20 void setup(){
21 Serial.begin(115200);
22 PCA9685_Setup();
23 Buzzer_Setup();
24 Emotion_Setup();
25 strip.begin();
26 strip.setBrightness(10);
27 irrecv.enableIRIn(); //Initialize the infrared receiving pin
28 Servo_1_Angle(servo_1_angle);
29 Servo_2_Angle(servo_2_angle);
30 }
31
32 void loop(){

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33 if (irrecv.decode(&results)) { // Waiting for decoding

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34 handleControl(results.value); // Handle the commands from remote control

35 unsigned long value=results.value;
36 Serial.print(value,HEX);
37 Serial.println();
38 irrecv.resume(); // Release infrared decoding function
39 }
40 }
41
42 void handleControl(unsigned long value) {
43 // Handle the commands
44 switch (value) {
45 case 0xFF02FD:// Receive the number '+'
46 Motor_Move(2000,2000,2000,2000);
47 break;
48 case 0xFF9867:// Receive the number '-'
49 Motor_Move(-2000,-2000,-2000,-2000);
50 break;
51 case 0xFFE01F:// Receive the number '|<<'
52 Motor_Move(-2000,-2000,2000,2000);
53 delay(200);
54 Motor_Move(0,0,0,0);
55 break;
56 case 0xFF906F:// Receive the number '>>|'
57 Motor_Move(2000,2000,-2000,-2000);
58 delay(200);
59 Motor_Move(0,0,0,0);
60 break;
61 case 0xFFA857:// Receive the number '▶'
62 Motor_Move(0,0,0,0);
63 break;
64 case 0xFF6897:// Receive the number '0'
65 servo_1_angle=servo_1_angle+10;
66 Servo_1_Angle(servo_1_angle);
67 break;
68 case 0xFF30CF:// Receive the number '1'
69 servo_1_angle=servo_1_angle-10;
70 Servo_1_Angle(servo_1_angle);
71 break;
72 case 0xFF10EF:// Receive the number '4'
73 servo_1_angle=90;
74 Servo_1_Angle(servo_1_angle);
75 break;
76 case 0xFFB04F:// Receive the number 'C'
77 servo_2_angle=servo_2_angle+10;

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78 Servo_2_Angle(servo_2_angle);
79 break;
80 case 0xFF7A85:// Receive the number '3'
81 servo_2_angle=servo_2_angle-10;
82 Servo_2_Angle(servo_2_angle);
83 break;
84 case 0xFF5AA5:// Receive the number '6'
85 servo_2_angle=90;
86 Servo_2_Angle(servo_2_angle);
87 break;
88 case 0xFF22DD:// Receive the number 'TEST'
89 Buzzer_Alert(1,1);
90 break;
91 case 0xFF18E7:// Receive the number '2'
92 emotion_flag=millis()%21;
93 staticEmtions(emotion_flag);
94 break;
95 case 0xFF38C7:// Receive the number '5'
96 clearEmtions();
97 break;
98 case 0xFF42BD:// Receive the number '7'
99 ws2812_flag=millis()%4;
100 WS2812_Show();
101 break;
102 case 0xFF4AB5:// Receive the number '8'
103 ws2812_flag=4;
104 WS2812_Show();
105 break;
106 case 0xFFFFFFFF:// Remain unchanged
107 break;
108 default:
109 break;
110 }
111 }
112
113 void WS2812_Show(){
114 for (int i = 0; i < 12; i++)
115 strip.setLedColorData(i, m_color[ws2812_flag][0], m_color[ws2812_flag][1],
m_color[ws2812_flag][2]);
116 strip.show();
117 }

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After the code is successfully uploaded, turn on the power of the car and use the infrared
remote control to control the car and other functions. The corresponding keys and their
functions are shown in the following table:

Pull out

ICON KEY Value Function ICON KEY Value Function

FF02FD Move forward FF22DD Control the buzzer

FFE01F Turn left FF18E7 Random emoticons

FF906F Turn light FF38C7 Turn off emoticons

FF9867 Move back FF42BD Random display of WS2812

FFA857 Stop the car FF4AB5 Turn off WS2812 display

FF6897 Control servo 1 turn left FFB04F Control servo 2 turn left

FF30CF Control servo 1 turn right FF7A85 Control servo 2 turn right

FF10EF Control servo 1 turn to 90° FF5AA5 Control servo 2 turn to 90°

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 █ Chapter 6 Infrared Car 117

Code Explanation:
Add the header file for the car.
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6 #include "Freenove_4WD_Car_Emotion.h"
7 #include "Freenove_WS2812_Lib_for_ESP32.h"
Initialize each function of the car.
21 Serial.begin(115200); // Turn on the serial port monitor and set the baud
rate to 115200
22 PCA9685_Setup(); // Initialize the PCA9685 chip
23 Buzzer_Setup(); //Initialize the buzzer
24 Emotion_Setup(); //Initializes the expression module
25 strip.begin(); //Initialize the WS2812
26 strip.setBrightness(10);// Set the brightness of the WS2812 to 10
27 irrecv.enableIRIn(); //Initialize the infrared receiving pin
28 Servo_1_Angle(servo_1_angle);
29 Servo_2_Angle(servo_2_angle);
Set the color of WS2812 and have it display the corresponding color.
113 void WS2812_Show(){
114 for (int i = 0; i < 12; i++)
115 strip.setLedColorData(i, m_color[ws2812_flag][0], m_color[ws2812_flag][1],
m_color[ws2812_flag][2]);
116 strip.show();
117 }
Infrared key code value processing function, received the infrared remote control sent
instructions, the execution of the corresponding program.
42 void handleControl(unsigned long value) {
43 // Handle the commands
44 switch (value) {
45 case 0xFF02FD:// Receive the number '+'
… 48 ...
… 51 case 0xFF9867:// Receive the number '-'
… 56 ...
… 61 case 0xFFE01F:// Receive the number '|<<'
...
… 64
case 0xFF906F:// Receive the number '>>|'
… 68
...
case 0xFFA857:// Receive the number '▶'
...
case 0xFF6897:// Receive the number '0'
...
case 0xFF30CF:// Receive the number '1'

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… ...
72 case 0xFF10EF:// Receive the number '4'
… ...
76 case 0xFFB04F:// Receive the number 'C'
… ...
80 case 0xFF7A85:// Receive the number '3'
… ...
84 case 0xFF5AA5:// Receive the number '6'
… ...
88 case 0xFF22DD:// Receive the number 'TEST'
… ...
91 case 0xFF18E7:// Receive the number '2'
… ...
95 case 0xFF38C7:// Receive the number '5'
… ...
98 case 0xFF42BD:// Receive the number '7'
… ...
10 case 0xFF4AB5:// Receive the number '8'
2
… ...
10 case 0xFFFFFFFF:// Remain unchanged
6
… ...
10 default:
8
10 break;
9
11 }
0
11 }
1

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 █ Chapter 7 WiFi Car

Chapter 7 WiFi Car

7.1 WiFi
Sending and Receiving Data
Before programming, we need to have a basic understanding of WiFi.
Station mode
When ESP32 selects Station mode, it acts as a WiFi client. It can connect to the router
network and communicate with other devices on the router via WiFi connection. As
shown below, the PC is connected to the router, and if ESP32 wants to communicate with

the PC, it needs to be connected to the router.

AP mode
When ESP32 selects AP mode, it creates a hotspot network that is separate from the
Internet and waits for other WiFi devices to connect. As shown in the figure below, ESP32 is
used as a hotspot. If a mobile phone or PC wants to communicate with ESP32, it must
be connected to the hotspot of ESP32. Only after a connection is established with ESP32 can

they communicate.

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AP+Station mode
In addition to AP mode and station mode, ESP32 can also use AP mode and station
mode at the same time. This mode contains the functions of the previous two modes.
Turn on ESP32's station mode, connect it to the router network, and it can communicate
with the Internet via the router. At the same time, turn on its AP mode to create a hotspot
network. Other WiFi devices can choose to connect to the router network or the hotspot
network to communicate with ESP32.
TCP connection
Before transmitting data, TCP needs to establish a logical connection between the sending
end and the receiving end. It provides reliable and error-free data transmission between the
two computers. In the TCP connection, the client and the server must be clarified. The client
sends a connection request to the server, and each time such a request is proposed, a "three-
times handshake" is required.

Three-times handshake: In the TCP protocol, during the preparation phase of sending data,
the client and the server interact three times to ensure the reliability of the connection, which is
called "three-times handshake". The first handshake, the client sends a connection request to
the server and waits for the server to confirm. The second handshake, the server sends a
response back to the client informing that it has received the connection request.
The third handshake, the client sends a confirmation message to the server again to confirm the
connection.

the first handshake

the second handshake

the third handshake

TCP is a connection-oriented, low-level transmission control protocol. After TCP establishes a

connection, the client and server can send and receive messages to each other, and the
connection will always exist as long as the client or server does not initiate disconnection. Each
time one party sends a message, the other party will reply with an ack signal.

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 █ Chapter 7 WiFi Car

The client sends a data

message, and the server

The server sends a data

message, and the client

Install Freenove app

There are three ways to install app, you can choose any one.
Method 1
Use Google play to search “Freenove”, download and install.

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Method 2
Visit https://play.google.com/store/apps/details?id=com.freenove.suhayl.Freenove, and click install.

Method 3
Visit https://github.com/Freenove/Freenove_app_for_Android, download the files in this library, and install
freenove.apk to your Android phone manually.

Click here to
download.

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 █ Chapter 7 WiFi Car

Menu
Open application “Freenove”, as shown below:

MENU

Device
Selectio
n Area

Home Page Store

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122 Chapter 7 www.freenove.c

Introduction of the APP

In this chapter, we use Freenove 4WD Car for ESP32, so it is necessary to understand the
interface of this mode.

zer

Sketch
Open “06.1_WiFi_APP_TcpServer” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click
“06.1_WiFi_APP_TcpServer.ino”.
Before uploading the code, you need to modify it based on the name and password of your router.
Code
1 #include <WiFi.h>
2 #include Modify based on the
3 <WiFiClient.h> name and password of
4 #include <WiFiAP.h> your router.
5
const char* ssid_Router = "********";//Modify according to your
6
7 router name const char* password_Router = "********";//Modify according
8 to your router password const char* ssid_AP = "Sunshine";//ESP32
9 turns on an AP and calls it Sunshine const char* password_AP =
10 "Sunshine";//Set your AP password for ESP32 to Sunshine WiFiServer
server_Cmd(4000);
WiFiServer server_Camera(7000);

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█ Chapter 7 WiFi Car

11 void setup() {
12 Serial.begin(115200);
13 Serial.println();
14 WiFi.softAP(ssid_AP, password_AP);//Turn on ESP32's AP feature
15 server_Camera.begin(7000); //Turn on camera server
16 server_Cmd.begin(4000); //Turn on Cmd server
17 server_Camera.setNoDelay(true); //Set no delay in sending and receiving
data
18 server_Cmd.setNoDelay(true); //Set no delay in sending and receiving data
19 //////////////////////////////////////////////////////////
20 int timeout=0;
21 while(WiFi.isConnected() != true) { //If the connection fails, wait half a
second for
another connection request
22 delay(500);
23 Serial.print(".");
24 timeout++;
25 //WiFi.begin(ssid_Router, password_Router);
26 if(timeout==10)
27 break;
28 }
29 //////////////////////////////////////////////////////////
30 Serial.print("\nCamera Ready! Use '");
31 Serial.print(WiFi.softAPIP());
32 Serial.print(" or ");
33 Serial.print(WiFi.localIP());
34 Serial.println("' to connect in Freenove app.");
35 }
36
37 void loop() {
38 WiFiClient client = server_Cmd.available();//listen for incoming clients
39 if (client) { //if you get a client,
40 Serial.println("Command Server connected to a client.");
41 while (client.connected()) {//loop while the client's connected
42 if (client.available()) { //if there's bytes to read from the client,
43 String dataBuffer = client.readStringUntil('\n') + String("\n"); //read
data
44 Serial.print(dataBuffer);//print it out the serial monitor
45 }
46 }
47 client.stop();// close the connection:
48 Serial.println("Command Client Disconnected.");
49 }
50 }

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Uplode the code to ESP32 car and open serial monitor.

Upload code Open serial monitor

If you do not have a router nearby,

please connect your phone to a router If your mobile phone and ESP32
named "Sunshine", the password is car are connected to the same
"Sunshine", please refer to this IP address. router, please refer to this IP address.

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 █ Chapter 7 WiFi Car

Open mobliephone app and select Freenove 4WD Car for ESP32.

Make sure your mobile phone and ESP32 car are connected to the same router.
According to the aforementioned IP address, enter the corresponding IP address, and then
click Connect. Tap the button on the screen and you can see the data on the serial monitor.

Enter the IP address

Connect

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126 Chapter 7 www.freenove.c

Code Explanation:
Add the library functions of WiFi. Each time before using WiFi, please add these library functions.
1 #include <WiFi.h>
2 #include <WiFiClient.h>
3 #include <WiFiAP.h>
Define four pointer variables to store information.
5 const char* ssid_Router = "********";//Modify according to your router
name
6 const char* password_Router = "********";//Modify according to your router
password
7 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it
Sunshine
8 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to
Sunshine
Turn ON AP feature of ESP32. When the function is called, you can search a WiFi signal
named “Sunshine” in your phone.
14 WiFi.softAP(ssid_AP, password_AP);//Turn on ESP32's AP feature
The mobile app uses two servers, one for transmitting images and one for transmitting
commands. Set ESP32 to start the two servers. The server with port 7000 is used to receive
image data (not used in this section for the time being), and the server with port 4000 is used
to transmit commands. Call the setNoDelay function to send and receive data directly.
15 server_Camera.begin(7000); //Turn on camera server
16 server_Cmd.begin(4000); //Turn on Cmd server
17 server_Camera.setNoDelay(true); //Set no delay in sending and receiving
data
18 server_Cmd.setNoDelay(true); //Set no delay in sending and receiving data
Connect ESP32 to the router. After the router is successfully connected, ESP32 will print the IP
address information to the serial monitor. If there is no router near you, or the router fails to
connect, you can delete this code.
19 //////////////////////////////////////////////////////////
20 int timeout=0;
21 while(WiFi.isConnected() != true) { //If the connection fails, wait half a

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█ Chapter 7 WiFi Car

second for
another connection request

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22 delay(500);
23 Serial.print(".");
24 timeout++;
25 WiFi.begin(ssid_Router, password_Router);
26 if(timeout==10)
27 break;
28 }
29 //////////////////////////////////////////////////////////
Define a WiFi client object to monitor whether the server has a client request access signal.
38 WiFiClient client = server_Cmd.available();//listen for incoming clients
Determine whether there is a client connected to the server.
42 while (client.connected()) {//loop while the client's connected
Call available function to query whether the client has sent data to the server.
43 if (client.available()) { //if there's bytes to read from the client,
Call readStringUntil function to read a line of data from the client and print it to the serial monitor.
44 String dataBuffer = client.readStringUntil('\n') + String("\n"); //read
data
45 Serial.print(dataBuffer);//print it out the serial monitor
Call stop() function to close the client connection.
48 client.stop();// close the connection:
Reference
Class Station
Every time when using WiFi, you need to include header file "WiFi.h.".
begin(ssid, password,channel, bssid, connect): ESP32 is used as Station to connect hotspot.
ssid: WiFi hotspot name
password: WiFi hotspot password
channel: WiFi hotspot channel number; communicating through specified channel;
optional parameter
bssid: mac address of WiFi hotspot, optional parameter
connect: blloean optional parameter, defaulting to true. If set as false, then ESP32 won't
connect WiFi.
config(local_ip, gateway, subnet, dns1, dns2): set static local IP address.
local_ip: station fixed IP address.
subnet：subnet mask
dns1,dns2: optional parameter. define IP address of domain name server
status: obtain the connection status of
WiFI local IP(): obtian IP address in
Station mode disconnect(): disconnect
wifi
setAutoConnect(boolen): set automatic connection Every time ESP32 is power on, it will
connect WiFi aitomatically.
setAutoReconnect(boolen): set automatic reconnection Every time ESP32 disconnects WiFi,
it will
reconnect to WiFi automatically.

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 █ Chapter 7 WiFi Car

Class AP
Every time when using WiFi, you need to include header file "WiFi.h.".
softAP(ssid, password, channel, ssid_hidden, max_connection):
ssid: WiFi hotspot name
password: WiFi hotspot password
channel: Number of WiFi connection channels, range 1-13. The default is 1.
ssid_hidden: Whether to hide WiFi name from scanning by other devices. The default is
not hide. max_connection: Maximum number of WiFi connected devices. The range is 1-
4. The default is 4. softAPConfig(local_ip, gateway, subnet): set static local IP address.
local_ip: station fixed IP
address. Gateway: gateway
IP address subnet：subnet
mask
softAP(): obtian IP address in AP mode
softAPdisconnect (): disconnect AP mode.
Class Client
Every time when using Client, you need to include header file "WiFi.h."
connect(ip, port, timeout)/connect(*host, port, timeout): establish a TCP connection.
ip, *host：ip address of target
server port: port number of
target server timeout: connection
timeout
connected(): judge whether client is connecting. If return value is 1, then connect successfully; If
return value is 0, then fail to connect.
stop(): stop tcp connection
print(): send data to server connecting to client
available(): return to the number of bytes readable in receive buffer, if no, return to 0 or -1.
read(): read one byte of data in receive buffer
readString(): read string in receive buffer
Class Server
Every time use Server functionality, we need to include header file"WiFi.h".
WiFiServer(uint16_t port=80, uint8_t max_clients=4): create a TCP Server.
port: ports of Server; range from 0 to 65535 with the default
number as 80. max_clients: maximum number of clients with
default number as 4.
begin(port): start the TCP Server.
port: ports of Server; range from 0 to 65535 with the default
number as 0.
setNoDelay(bool nodelay): whether to turn off the delay sending
functionality.
nodelay: true stands for forbidden Nagle algorithm.
close(): close tcp connection.
stop(): stop tcp connection.

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7.2 WiFi
Transmitting Images
Earlier we used the WiFi to transmit command. In this section, we use WiFi to transmit
image data and display the picture taken by the ESP32 car on the mobile APP.

Sketch
Open the folder “06.2_WiFi_Cam_TcpServer” in the “Freenove_4WD_Car_Kit_for_ESP32\
Sketches” and double click “06.2_WiFi_Cam_TcpServer.ino”.

Before uploading the code, please modify the name and password of Router. Other
operation is the same as Section 7.1.
Code
1 #include "esp_camera.h"
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5 Please modify the name
6 and password of Router.
#define CAMERA_MODEL_WROVER_KIT
7 #include "camera_pins.h"
8
9 const char* ssid_Router = "********";//Modify according to your router
name
10 const char* password_Router = "********";//Modify according to your router
password
11 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it
Sunshine
12 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to
Sunshine
13
14 WiFiServer server_Cmd(4000);
15 WiFiServer server_Camera(7000);
16 extern TaskHandle_t loopTaskHandle;
17
18 void setup() {
19 Serial.begin(115200);
20 Serial.setDebugOutput(false);
21 Serial.println();
22 cameraSetup();
23
24 WiFi.softAP(ssid_AP, password_AP);
25 server_Camera.begin(7000);
26 server_Cmd.begin(4000);
27 /////////////////////////////////////////////////////
28 WiFi.begin(ssid_Router, password_Router);
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29 Serial.print("Connecting ");
30 Serial.print(ssid_Router);

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31 int timeout=0;
32 while (WiFi.isConnected() != true) {
33 delay(500);
34 Serial.print(".");
35 WiFi.begin(ssid_Router, password_Router);
36 timeout++;
37 if(timeout>=10)
38 break;
39 }
40 Serial.println("");
41 Serial.println("WiFi connected");
42 /////////////////////////////////////////////////////
43 Serial.print("Camera Ready! Use '");
44 Serial.print(WiFi.softAPIP());
45 Serial.print(" or ");
46 Serial.print(WiFi.localIP());
47 Serial.println("' to connect in Freenove app.");
48
49 disableCore0WDT();
50 //loopTask_Cmd uses core 0.
51 xTaskCreateUniversal(loopTask_Cmd, "loopTask_Cmd", 8192, NULL, 1,
&loopTaskHandle, 0);
52 }
53
54 //task loop uses core 1.
55 void loop() {
56 WiFiClient client = server_Camera.available();// listen for incoming
clients
57 if (client) { // if you get a client,
58 Serial.println("Camera Server connected to a client.");
59 String currentLine = ""; // make a String to hold incoming data
from the client
60 while (client.connected()) { // loop while the client's connected
61 camera_fb_t * fb = NULL;
62 while (client.connected()) {
63 fb = esp_camera_fb_get();
64 if (fb != NULL) {
65 uint8_t slen[4];
66 slen[0] = fb->len >> 0;
67 slen[1] = fb->len >> 8;
68 slen[2] = fb->len >> 16;
69 slen[3] = fb->len >> 24;
70 client.write(slen, 4);
71 client.write(fb->buf, fb->len);
72 esp_camera_fb_return(fb);

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73 }
74 else {

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75 Serial.println("Camera Error");
76 }
77 }
78 }
79 // close the connection:
80 client.stop();
81 Serial.println("Camera Client Disconnected.");
82 }
83 }
84
85 void loopTask_Cmd(void *pvParameters) {
86 Serial.println("Task Cmd_Server is starting ");
87 while (1) {
88 WiFiClient client = server_Cmd.available();//listen for incoming
clients
89 if (client) //if you get a client,
90 {
91 Serial.println("Command Server connected to a client.");
92 while (client.connected()) {//loop while the client's connected
93 if (client.available()) { //if there's bytes to read from the
client,
94 String dataBuffer = client.readStringUntil('\n') + String("\
n");
95 Serial.print(dataBuffer);//print it out the serial monitor
96 }
97 }
98 client.stop();// close the connection:
99 Serial.println("Command Client Disconnected.");
10 }
0
10 }
1
10 }
2
10
3
10 void cameraSetup() {
4
10 camera_config_t config;
5
10 config.ledc_channel = LEDC_CHANNEL_0;
6
10 config.ledc_timer = LEDC_TIMER_0;
7
10 config.pin_d0 = Y2_GPIO_NUM;
8
10 config.pin_d1 = Y3_GPIO_NUM;
9
11 config.pin_d2 = Y4_GPIO_NUM;
0
11 config.pin_d3 = Y5_GPIO_NUM;
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█ Chapter 7 WiFi Car

1
11 config.pin_d4 = Y6_GPIO_NUM;
2
11 config.pin_d5 = Y7_GPIO_NUM;
3
11 config.pin_d6 = Y8_GPIO_NUM;
4
11 config.pin_d7 = Y9_GPIO_NUM;
5
11 config.pin_xclk = XCLK_GPIO_NUM;
6
11 config.pin_pclk = PCLK_GPIO_NUM;
7
11 config.pin_vsync = VSYNC_GPIO_NUM;
8

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11 config.pin_href = HREF_GPIO_NUM;
9
12 config.pin_sscb_sda = SIOD_GPIO_NUM;
0
12 config.pin_sscb_scl = SIOC_GPIO_NUM;
1
12 config.pin_pwdn = PWDN_GPIO_NUM;
2
12 config.pin_reset = RESET_GPIO_NUM;
3
12 config.xclk_freq_hz = 20000000;
4
12 config.pixel_format = PIXFORMAT_JPEG;
5
12 config.frame_size = FRAMESIZE_VGA; //clear
6
12 // config.frame_size = FRAMESIZE_QVGA; //ordinary
7
12 // config.frame_size = FRAMESIZE_QQVGA; //concision
8
12 config.jpeg_quality = 10;
9
13 config.fb_count = 1;
0
13
1
13 // camera init
2
13 esp_err_t err = esp_camera_init(&config);
3
13 if (err != ESP_OK) {
4
13 Serial.printf("Camera init failed with error 0x%x", err);
5
13 return;
6
13 }
7
13 Serial.println("Camera configuration complete!");
8
13 }
9
Upload code to ESP32 car and open serial monitor.

Upload code Open serial monitor

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 █ Chapter 7 WiFi Car

If you do not have a router nearby, If your mobile phone and ESP32
please connect your phone to a car are connected to the same
router named "Sunshine", and the router, please refer to this IP address.
password is also "Sunshine", please
refer to this IP address.

Open mobile APP and select Freenove 4WD Car for ESP32.

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138 Chapter 7 www.freenove.c

Make sure your mobile phone and ESP32 car are connected to the same router.
According to the aforementioned IP address, enter the corresponding IP address, and then
click Connect. Tap the button on the screen and you can see the data on the serial monitor.

Connection Enter the IP address

Vedio

Code Explanation:
Before using camera, please add two header files esp_camera.h and camera_pins.h .
1 #include "esp_camera.h"
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5
6 #define CAMERA_MODEL_WROVER_KIT
7 #include "camera_pins.h"

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 █ Chapter 7 WiFi Car

Define four pointer variables to store information. Each time, before using, please modify
name and password of Router.
5 const char* ssid_Router = "********";//Modify according to your router
name
6 const char* password_Router = "********";//Modify according to your router
password
7 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it
Sunshine
8 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to
Sunshine
Camara initialization function that assign pins to camera and sets the camera clock frequency,
picture quality, picture size and other information.
10 void cameraSetup() {
3
10 camera_config_t config;
4
10 config.ledc_channel = LEDC_CHANNEL_0;
5
10 config.ledc_timer = LEDC_TIMER_0;
6
10 config.pin_d0 = Y2_GPIO_NUM;
7
10 config.pin_d1 = Y3_GPIO_NUM;
8
10 config.pin_d2 = Y4_GPIO_NUM;
9
11 config.pin_d3 = Y5_GPIO_NUM;
0
11 config.pin_d4 = Y6_GPIO_NUM;
1
11 config.pin_d5 = Y7_GPIO_NUM;
2
11 config.pin_d6 = Y8_GPIO_NUM;
3
11 config.pin_d7 = Y9_GPIO_NUM;
4
11 config.pin_xclk = XCLK_GPIO_NUM;
5
11 config.pin_pclk = PCLK_GPIO_NUM;
6
11 config.pin_vsync = VSYNC_GPIO_NUM;
7
11 config.pin_href = HREF_GPIO_NUM;
8
11 config.pin_sscb_sda = SIOD_GPIO_NUM;
9
12 config.pin_sscb_scl = SIOC_GPIO_NUM;
0
12 config.pin_pwdn = PWDN_GPIO_NUM;
1
12 config.pin_reset = RESET_GPIO_NUM;
2
12 config.xclk_freq_hz = 20000000; Set frame_size. VGA, QVGA,
3 and
12 config.pixel_format = PIXFORMAT_JPEG; QQVGA correspond to
4 different

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12 config.frame_size = FRAMESIZE_VGA; //clear definitions of the pictures.

5
12 // config.frame_size = FRAMESIZE_QVGA; //ordinary
6
12 // config.frame_size = FRAMESIZE_QQVGA; //concision
7
12 config.jpeg_quality = 10;
8
12 config.fb_count = 1;
9
130 esp_err_t err = esp_camera_init(&config); // camera init
131 if (err != ESP_OK) {
132 Serial.printf("Camera init failed with error 0x%x", err);
133 return;
134 }
135 Serial.println("Camera configuration complete!");
136 }

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 █ Chapter 7 WiFi Car

ESP32 is a dual-core processor, which can handle different things at the same time. Usually
the loop function of ESP32 runs in the first core area. In this code, we make the command
processing run in the 0th core area and the camera data processing in the first core area. Call
the disableCore0WDT() function to turn off the watchdog in the 0th core area to avoid
program reset caused by the watchdog. Call the xTaskCreateUniversal function to apply to
create a task function and let the task function run in the 0th core area.
49 disableCore0WDT();
50 //loopTask_Cmd uses core 0.
51 xTaskCreateUniversal(loopTask_Cmd, "loopTask_Cmd", 8192, NULL, 1,
&loopTaskHandle, 0);
Define a camera image data storage object to store image data.
61 camera_fb_t * fb = NULL;
Call the esp_camera_fb_get() function to get the image data and store it in fb. Call the write() function to
send
the data to the mobile app.
63 fb = esp_camera_fb_get();
64 if (fb != NULL) {
65 uint8_t slen[4];
66 slen[0] = fb->len >> 0;
67 slen[1] = fb->len >> 8;
68 slen[2] = fb->len >> 16;
69 slen[3] = fb->len >> 24;
70 client.write(slen, 4);
71 client.write(fb->buf, fb->len);
72 esp_camera_fb_return(fb);
73 }
Reference
Image resolution Sharpness Image resolution Sharpness
FRAMESIZE_QQVGA 160x120 FRAMESIZE_VGA 640x480
FRAMESIZE_QQVGA2 128x160 FRAMESIZE_SVGA 800x600
FRAMESIZE_QCIF 176x144 FRAMESIZE_XGA 1024x768
FRAMESIZE_HQVGA 240x176 FRAMESIZE_SXGA 1280x1024
FRAMESIZE_QVGA 320x240 FRAMESIZE_UXGA 1600x1200
FRAMESIZE_CIF 400x296 FRAMESIZE_QXGA 2048x1536

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7.3 WiFi
Video Car by APP
In this section, we will combine image transmission with controlling the car. You can control
the ESP32 car through mobile APP while observing the images that the camera transmits.

Sketch
Open the folder “06.3_Multi_Functional_Car” in Freenove_4WD_Car_Kit_for_ESP32\Sketches and
double click “06.3_Multi_Functional_Car.ino”.
Before compiling the code, please modify the code according to the name and password of your
WiFi.
If you want to enable ESP32's own router functionality, WiFi_Setup(1); If you want ESP32 to
connect to the router, WiFi_Setup(0).
Code
1 #include <Arduino.h>
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5 #include "esp_camera.h"
6 #include "Freenove_4WD_Car_WiFi.h"
7 #include "Freenove_4WD_Car_Emotion.h"
8 #include "Freenove_4WD_Car_WS2812.h"
9 #include "Freenove_4WD_Car_For_ESP32.h"
1
0
1 String CmdArray[8];
1
12 int paramters[8];
13 bool videoFlag = 0; Please modify the name
14 and password of Router.
1 void WiFi_Init(){
5
1 ssid_Router = "********"; //Modify according to your router name
6
1 password_Router = "********"; //Modify according to your router password
7
1 ssid_AP = "Sunshine"; //ESP32 turns on an AP and calls it Sunshine
8
1 password_AP = "Sunshine"; //Set your AP password for ESP32 to Sunshine
9
2 frame_size = FRAMESIZE_CIF;//400*296
0
2 }
1
2
2
2 WiFiServer server_Cmd(4000);
3
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█ Chapter 7 WiFi Car

2 WiFiServer server_Camera(7000);
4
2
5
2 void setup(){
6
2 Buzzer_Setup(); //Buzzer initialization
7
2 Serial.begin(115200);
8
2 Serial.setDebugOutput(true);
9
3 WiFi_Init(); //WiFi paramters initialization
0

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3 WiFi_Setup(1); //Start AP Mode

1
3 server_Camera.begin(7000);//Turn on the camera server
2
3 server_Cmd.begin(4000); //Start the command server
3
3
4
3 cameraSetup(); //Camera initialization
5
3 Emotion_Setup(); //Emotion initialization
6
3 WS2812_Setup(); //WS2812 initialization
7
3 PCA9685_Setup(); //PCA9685 initialization
8
3 Light_Setup(); //Light initialization
9
4 Track_Setup(); //Track initialization
0
4
1
4 disableCore0WDT(); //Turn off the watchdog function in kernel 0
2
4 xTaskCreateUniversal(loopTask_Camera, "loopTask_Camera", 8192, NULL, 0, NULL,
3 0);
4 xTaskCreateUniversal(loopTask_WTD, "loopTask_WTD", 8192, NULL, 0, NULL, 0);
4
4 }
5
4
6
4 void loop() {
7
4 WiFiClient client = server_Cmd.available();//listen for incoming clients
8
4 if (client) { //if you get a client
9
5 Serial.println("Cmd_Server connected to a client.");
0
5 while (client.connected()) { //loop while the client's connected
1
5 if (client.available()) { //if there's bytes to read from the
2 client
5 String inputStringTemp = client.readStringUntil('\n');//Read the
3 command by WiFi
5 Serial.println(inputStringTemp); //Print out the command received by
4 WiFi
5 Get_Command(inputStringTemp);
5
5
6
5 if (CmdArray[0] == CMD_LED_MOD)//Set the display mode of car colored
7 lights
5 WS2812_SetMode(paramters[1]);
8

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█ Chapter 7 WiFi Car

5 if (CmdArray[0] == CMD_LED) //Set the color and brightness of the car

9 lights
6 WS2812_Set_Color_1(paramters[1], paramters[3], paramters[2],
0 paramters[4]);
6 if (CmdArray[0] == CMD_MATRIX_MOD)//Set the display mode of the LED
1 matrix
6 Emotion_SetMode(paramters[1]);
2
6 if (CmdArray[0] == CMD_VIDEO)//Video transmission command
3
6 videoFlag = paramters[1];
4
6 if (CmdArray[0] == CMD_BUZZER) //Buzzer control command
5
6 Buzzer_Variable(paramters[1], paramters[2]);
6
6 if (CmdArray[0] == CMD_POWER) {//Power query command
7
6 float battery_voltage = Get_Battery_Voltage();
8
6 client.print(CMD_POWER);
9
7 client.print(INTERVAL_CHAR);
0
7 client.print(battery_voltage);
1
7 client.print(ENTER);
2
7 }
3
7 if (CmdArray[0] == CMD_MOTOR) {//Network control car movement command
4

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75 Car_SetMode(0);
76 if (paramters[1] == 0 && paramters[3] == 0)
77 Motor_Move(0, 0, 0, 0);//Stop the car
78 else //If the parameters are not equal to 0
79 Motor_Move(paramters[1], paramters[1], paramters[3], paramters[3]);
80 }
81 if (CmdArray[0] == CMD_SERVO) {//Network control servo motor movement
command
82 if (paramters[1] == 0)
83 Servo_1_Angle(paramters[2]);
84 else if (paramters[1] == 1)
85 Servo_2_Angle(paramters[2]);
86 }
87 if (CmdArray[0] == CMD_CAMERA) {//Network control servo motor movement
command
88 Servo_1_Angle(paramters[1]);
89 Servo_2_Angle(paramters[2]);
90 }
91 if (CmdArray[0] == CMD_LIGHT) { //Light seeking car command
92 if (paramters[1] == 1)
93 Car_SetMode(1);
94 else if (paramters[1] == 0)
95 Car_SetMode(0);
96 }
97 else if (CmdArray[0] == CMD_TRACK) { //Tracking car command
98 if (paramters[1] == 1)
99 Car_SetMode(2);
100 else if (paramters[1] == 0)
101 Car_SetMode(0);
102 }
103 if (CmdArray[0] == CMD_CAR_MODE) { //Car command Mode
104 Car_SetMode(paramters[1]);
105 }
106 //Clears the command array and parameter array
107 memset(CmdArray, 0, sizeof(CmdArray));
108 memset(paramters, 0, sizeof(paramters));
109 }
110 Emotion_Show(emotion_task_mode);//Led matrix display function
111 WS2812_Show(ws2812_task_mode);//Car color lights display function
112 Car_Select(carFlag);//ESP32 Car mode selection function
113 }
114 client.stop();//close the connection:
115 Serial.println("Command Client Disconnected.");
116 ESP.restart();
117 }
118 }
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█ Chapter 7 WiFi Car

119 void loopTask_Camera(void *pvParameters) {

120 while (1) {
121 WiFiClient client = server_Camera.available();//listen for incoming clients
122 if (client) {//if you get a client
123 Serial.println("Camera_Server connected to a client.");
124 if (client.connected()) {
125 camera_fb_t * fb = NULL;
126 while (client.connected()) {//loop while the client's connected
127 if (videoFlag == 1) {
128 fb = esp_camera_fb_get();
129 if (fb != NULL) {
130 uint8_t slen[4];
131 slen[0] = fb->len >> 0;
132 slen[1] = fb->len >> 8;
133 slen[2] = fb->len >> 16;
134 slen[3] = fb->len >> 24;
135 client.write(slen, 4);
136 client.write(fb->buf, fb->len);
137 Serial.println("Camera send");
138 esp_camera_fb_return(fb);
139 }
140 }
141 }
142 //close the connection:
143 client.stop();
144 Serial.println("Camera Client Disconnected.");
145 ESP.restart();
146 }
147 }
148 }
149 }
150 void Get_Command(String inputStringTemp){
151 int string_length = inputStringTemp.length();
152 for (int i = 0; i < 8; i++) {//Parse the command received by WiFi
153 int index = inputStringTemp.indexOf(INTERVAL_CHAR);
154 if (index < 0) {
155 if (string_length > 0) {
156 CmdArray[i] = inputStringTemp; //Get command
157 paramters[i] = inputStringTemp.toInt();//Get parameters
158 }
159 break;
160 }
161 else {
162 string_length -= index; //Count the
remaining words

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163 CmdArray[i] = inputStringTemp.substring(0, index); //Get command

164 paramters[i] = CmdArray[i].toInt(); //Get parameters
165 inputStringTemp = inputStringTemp.substring(index + 1);//Update string
166 }
167 }
168 }
Code Explanation:
Add the driver headr files of the car.
The three header files starting with "WiFi" contain the WiFi driver configuration function
of ESP32. The esp_camera.h file contains the control function of ESP32 camera.
Freenove_4WD_Car_WiFi.h contains the command information when WiFi transmits signal and
the ESP32 pin configuration of the camera.
Freenove_4WD_Car_Emotion.h contains the driver configuration function of the LED matrix module.
Freenove_4WD_Car_WS2812.h contains the driver configuration function of the RGB LEDs.
Freenove_4WD_Car_For_ESP32.h contains the driver configuration function of the car.
1 #include <Arduino.h>
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5 #include "esp_camera.h"
6 #include "Freenove_4WD_Car_WiFi.h"
7 #include "Freenove_4WD_Car_Emotion.h"
8 #include "Freenove_4WD_Car_WS2812.h"
9 #include "Freenove_4WD_Car_For_ESP32.h"
Before you upload the code each time, you can change the ssid_Router and
password_Router below based on your WiFi name and password. The program uses
AP mode by default. ESP32 will create a WiFi called "Sunshine" based on the WiFi
configuration.
Note: "Sunshine" is not connected to the Internet. So if you choose to connect to it, your phone
will be disconnected from the Internet. “frame_size” is used to configure the pixel size of the
camera. If you don’t know its parameters, you can click here.
16 ssid_Router = "********"; //Modify according to your router name
17 password_Router = "********"; //Modify according to your router password
18 ssid_AP = "Sunshine"; //ESP32 turns on an AP and calls it Sunshine
19 password_AP = "Sunshine"; //Set your AP password for ESP32 to
Sunshine
20 frame_size = FRAMESIZE_CIF;//400*296
Turn ON two TCP server ports. Port 4000 is used to receive the command from the car
and port 7000 is to receive the image data collected by camera.
23 WiFiServer server_Cmd(4000);
24 WiFiServer server_Camera(7000);

Call the WiFi_Init() to initialize the WiFi parameters. Call the WiFi_Setup() to initialize the ESP32’s WiFi.
AP mode starts when the WiFi_Setup parameter is 1. When the parameter WiFi_Setup
is 0, the STA mode is started. After ESP32 starts WIFI, it prints the IP information to the serial
monitor.
30 WiFi_Init(); //WiFi paramters initialization
31 WiFi_Setup(1); //Start AP Mode

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 █ Chapter 7 WiFi Car

Initialize the car's buzzer, LED matrix module, RGB LEDs, WiFi, camera, motor motor,
servo, photoresistor and line tracking modules.
26 void setup(){
27 Buzzer_Setup(); //Buzzer initialization
28 Serial.begin(115200);
29 Serial.setDebugOutput(true);
30 WiFi_Init(); //WiFi paramters initialization
31 WiFi_Setup(); //WiFi initialization
32 server_Camera.begin(7000);//Turn on the camera server
33 server_Cmd.begin(4000); //Start the command server
34
35 cameraSetup(); //Camera initialization
36 Emotion_Setup(); //Emotion initialization
37 WS2812_Setup(); //WS2812 initialization
38 PCA9685_Setup(); //PCA9685 initialization
39 Light_Setup(); //Light initialization
40 Track_Setup(); //Track initialization
41
42 disableCore0WDT(); //Turn off the watchdog function in kernel 0
43 xTaskCreateUniversal(loopTask_Camera, "loopTask_Camera", 8192, NULL, 0, NULL,
0);
44 xTaskCreateUniversal(loopTask_WTD, "loopTask_WTD", 8192, NULL, 0, NULL, 0);
45 }
Monitor TCP server port 4000. If a client connects to this port, ESP32 will print prompt
messages of WiFi connection on the serial port. After the client connects to this port, it receives
information from the client until the client disconnects. When ESP32 detects that the client is
disconnected, it closes the TCP connection and prints a WiFi disconnect prompt message.
45 WiFiClient client = server_Cmd.available();//listen for incoming clients
46 if (client) {//if you get a client
47 Serial.println("Cmd_Server connected to a client.");
48 while (client.connected()) {//loop while the client's connected
… 114 …
115 }
116 client.stop();//close the connection: Serial.println("Command Client Disconnected.");
117 ESP.restart();
118 }

Get_Command(), the command parsing function. Every time this function is used, the
command received by TCP will be sent to this function through inputStringTemp, and the
command and parameters will be parsed and stored in the global variable array
CmdArray and paramters.
14 void Get_Command(String inputStringTemp){
9
15 int string_length = inputStringTemp.length();
0
15 for (int i = 0; i < 8; i++) {//Parse the command received by WiFi
1

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15 int index = inputStringTemp.indexOf(INTERVAL_CHAR);

2
15 if (index < 0) {
3

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 █ Chapter 7 WiFi Car

15 if (string_length > 0) {
4
15 CmdArray[i] = inputStringTemp; //Get command
5
15 paramters[i] = inputStringTemp.toInt();//Get parameters
6
15 }
7
15 break;
8
15 }
9
16 else {
0
16 string_length -= index; //Count the
1 remaining words
16 CmdArray[i] = inputStringTemp.substring(0, index); //Get command
2
16 paramters[i] = CmdArray[i].toInt(); //Get parameters
3
16 inputStringTemp = inputStringTemp.substring(index + 1);//Update string
4
16 }
5
16 }
6
16 }
7
Judge the client's data and use different functions of the car according to different commands.
57 if (CmdArray[0] == CMD_LED_MOD)//Set the display mode of car colored
lights
… …
59 if (CmdArray[0] == CMD_LED) {//Set the color and brightness of the car
lights
… …
61 if (CmdArray[0] == CMD_MATRIX_MOD)//Set the display mode of the LED
matrix
… …
63 if (CmdArray[0] == CMD_VIDEO)//Video transmission command
… …
65 if(CmdArray[0] == CMD_BUZZER)//Buzzer control command
… …
74 if (CmdArray[0] == CMD_POWER) {//Power query command
… …
81 if (CmdArray[0] == CMD_MOTOR) {//Network control car movement command
… …
87 if (CmdArray[0] == CMD_SERVO) {//Network control servo motor movement
command
… …
91 if(CmdArray[0] == CMD_LIGHT) {//Light seeking car command
… …
97 if(CmdArray[0] == CMD_TRACK) {//Tracking car command
… …

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10 if (CmdArray[0] == CMD_CAR_MODE) { //Car command Mode

3
… …
The following three functions run in a non-blocking manner. Call the Emotion_Show()
function to control the LED matrix, call the WS2812_Show() function to control the RGB
LEDs of the car, and call the Car_Select() function to control the mode of the car.
100 Emotion_Show(emotion_task_mode);//Led matrix display function
101 WS2812_Show(ws2812_task_mode);//Car color lights display function
102 Car_Select(carFlag);//ESP32 Car mode selection function

The camera thread callback function. Each time a connection is established with the client, if a video

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transmission command (videoFlag=1) is received, the image will be obtained and sent to the client.
11 void loopTask_Camera(void *pvParameters) {
9
12 while (1) {
0
12 WiFiClient client = server_Camera.available();//listen for incoming clients
1
12 if (client) {//if you get a client
2
12 Serial.println("Camera_Server connected to a client.");
3
12 if (client.connected()) {
4
12 camera_fb_t * fb = NULL;
5
12 while (client.connected()) {//loop while the client's connected
6
12 if (videoFlag == 1) {
7
12 fb = esp_camera_fb_get();
8
12 if (fb != NULL) {
9
13 uint8_t slen[4];
0
13 slen[0] = fb->len >> 0;
1
13 slen[1] = fb->len >> 8;
2
13 slen[2] = fb->len >> 16;
3
13 slen[3] = fb->len >> 24;
4
13 client.write(slen, 4);
5
13 client.write(fb->buf, fb->len);
6
13 Serial.println("Camera send");
7
13 esp_camera_fb_return(fb);
8
13 }
9
14 }
0
14 }
1
14 //close the connection:
2
14 client.stop();
3
14 Serial.println("Camera Client Disconnected.");
4
14 ESP.restart();
5
14 }

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6
14 }
7
14 }
8
14 }
9

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7.4 WiFi
Video Car by PC
In addition to using a mobile phone to control the WiFi video car, we also provide users with
a host computer to control the car. In this chapter, the car still uses the code in section 7.3

Run client on windows system

There are two ways to run client on Windows.
Option 1 Run the executable file directly.
Open main.exe in Freenove_4WD_Car_Kit_for_ESP32\TCP\Application.

The interface of client is as follows:

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The function of the client is as follows ：

Video display GUI Light/Track Car Mode

RGB Select

Color of RGB LEDs

RGB color mode

Emotion of LED matrix

Rotate Left 90°Rotate ResetRotate Right 90°

Servo calibration

IP address TCP connect Video Servo control

Servo slider

Battery level
According to the prompt message printed on the ESP32 serial monitor, enter the IP address
into "IP Address" and click "Connect", and youDirection
can control
of the ESP32
car car through this client

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 █ Chapter 7 WiFi Car

Option 2 Install python3and some related python libraries to run client.

If you want to modify the client, please following this section.
Install python3
Download and install Python3 package.
https://www.python.org/downloads/windows/

Select Python3.8.1.

Click Windows x86 executable installerto download. After downloading, click to install.

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Please note that “Add Python 3.8 to PATH” MUST be check.

Check all the options and then click “Next”.

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Here you can select the installation path of Python. We install it at D drive. If you are a novice,
you can select the default path.

Wait for it to finish installing.

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Now the installation is finished.

Install PyQt5、opencv、numpy and other libraries.

Press “Ctrl” and “R” on the keyboard at the same time will pop up a window.

Enter cmd in the pop-up window and click “OK”.

Use the command to enter the storage location of Freenove_4WD_Car_Kit_for_ESP32.
Here we assume it is saved in D drive.

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 █ Chapter 7 WiFi Car

The address depends on where you saved Freenove_4WD_Car_Kit_for_ESP32. You need

to modify it based on your own storage location.
1. Input “D:”, press enter to enter D drive, and then input “cd D:\
Freenove_4WD_Car_Kit_for_ESP32\TCP”, press enter to enter the folder.

2. Input “Python setup_windows.py” and press enter. If it fails, you can input “Python3
setup_windows.py” to try again.

3. Wait for it to finish installing and press any key according to the prompt. When it displays
“All libraries installed successfully”, it indicates the environment is installed successfully.

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If not all libraries are installed successfully, it will prompt "Some libraries have not been installed.
Please run Python3 setup_windows.py again', and then you need to enter and execute the
command again. Most installation failures are caused by poor networks. You can Check
your network before installation.

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 █ Chapter 7 WiFi Car

Run main.py
1. Input “D:”, press enter to enter D drive and then input “cd D:\
Freenove_4WD_Car_Kit_for_ESP32\TCP”, press enter to enter the folder.

2. Input “Python main.py” and press enter. If it fails, you can input 入“Python3 main.py” to try again.

After the program is run, you can control the car through this
window. If you want to modify the code, you can modify
the files in TCP folder. Control the car with keyboard
The car can be controlled by clicking the client. And it can also be controlled by pressing
keys on your keyboard.

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The following is the corresponding operation of the buttons and keys.

Button on Client Key Action
ForWard W Move
BackWard S Back off
Turn Left A Turn left
Turn Right D Turn right
Left left arrow Turn camera left
Right right arrow Turn camera right
Up up arrow Turn camera up
Down down arrow Turn camera down
Home Home Turn camera back Home
Connect/ Disconnect C On/off Connection
Open Video/ Close V On/off Video
Video
Buzzer Space On/off Buzzer
Led_Mode 1,2,3,4 L Switch RGB Led Mode
Matrix_Mode 1,2,3,4 K Switch Matrix Mode
Matrix_Static Mode J Switch Matrix Static
Mode
Light Car Mode R On/off Light Car Mode
Track Car Mode T On/off Track Car Mode
The function of SliderBar is below:
SliderBar Function
Servo 1,2 SliderBar Servo 1, 2 are used to slightly
adjust the angle. If the servo is not fully
centered during
installation, you can slightly tune it via the
SliderBar.
Other control information:
Control Function
IP address Edit box Enter IP address of ESP32.
Power box Show power level.
N,R,G,B Edit box Control the color of LED selected.
Button “Light On/Off” Turn on the light seeking function of the car. If
WiFi is
disconnected, the car will stop moving.
Button “Track On/Off” Turn on the tracking function of the car. If WiFi
is
disconnected, the car will stop moving.
Left-90° Rotate the received video 90° to the left to
display.
Origin-0° Restores the received video to its original display.
Right-90° Rotate the received video 90° to the right to
display.

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Run client on macOS system

Here we take MacOS 10.13as an example. To run client on MacOS, you need to install
some software and libraries. MacOS 10.13 comes with python2 but not python3.
However, the projects in this program need to be run with python3, so you need to install it
first.

Install python3
Download installation package, link:
https://www.python.org/downloads/ Click Python 3.8.2.

At the bottom of the page, click macOS 64-bit installer and download installation package.

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Click Continue.

Click Continue

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Click Agree.

Click Install. If your computer has a password, enter the password and Install Software.

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Now the installation succeeds.

You can find it in Applications.

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Install PyQt5、opencv、numpy and other libraries

If you have not yet download the code of ESP32 car to your macOS, you can download it
from the following link: https://github.com/Freenove/Freenove_4WD_Car_Kit_for_ESP32.git
After downloading, you can find it in Downloads of Macintosh
HD. Open Terminal.

Enter the following commands in Terminal

1. Enter “Downloads”(where the code locates). If your code locates in a different path, you need
to enter the location of your code.
cd Downloads
2. Enter the directory where setup_mac.py locates
cd Freenove_4WD_Car_Kit_for_ESP32/TCP

3. Run setup_macos.py:
python3 setup_macos.py
The installation takes some time. Please wait with patience. When installs successfully, it will
print "All libraries installed successfully":

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Note: If not all libraries are installed successfully, it will prompt “Some libraries have not been
installed”. Please input and run Python3 setup_macos.py again. Most installation failures are
caused by poor networks. You can Check your network before installation
Run main.py
Following the previous steps, after the installation is complete, you are now in the directory
where setup_mac.py is located. (Freenove_4WD_Car_Kit_for_ESP32/TCP)

Enter the following command to run main.py.

python3 main.py

The control way of macOS System client is same with Windows (Control).

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What's next?
Thank you again for choosing Freenove

products. THANK YOU for participating in this

learning experience!

We have reached the end of this Tutorial. If you find errors, omissions or you have
suggestions and/or questions about the Tutorial or component contents of this Kit, please feel
free to contact us: [email protected]

We will make every effort to make changes and correct errors as soon as feasibly possible
and publish a revised version.

If you want to learn more about Arduino, ESP32, Raspberry Pi, Smart Cars, Robotics and
other interesting products in science and technology, please continue to visit our website. We
will continue to launch fun, cost effective, innovative and exciting products.
http://www.freenove.com/

Thank you again for choosing Freenove products.

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