Gesture Controlled Robot

I am working on a Gesture Controlled Robot at Bluestamp. The robot is controlled by a glove on my hand, so when I move it, it goes a certain direction.

Engineer	School	Area of Interest	Grade
Shashwath D.	Miller Middle School	Electrical and Mechanical Engineering	7th Grader

Presentation

Second Milestone

My second milestone was completing the robot. I synced up the ESPs and added the accelerometer. I also made a code to send accelerometer values between two ESPs. I did have trouble with this and I had to constantly rewrite the code for about three days, but I finally got it by modifying a code for sending a humdity sensor’s valus between ESPs to send accelerometer values. Finally, I used a portable charger to make a glove for the ESP and accelerometer. The glove now sends accelerometer values to the ESP on the robot and based on the value it moves forwar, backward, right, or left.

First Milestone

My first milestone was making the robot. I made the car chassis and wired up the motors. Next, I coded the Arduino and made the blocks of code to move forward, backward, left, right, and to stop. I then replaced the arduino with an ESP because that is what will be receiving the input values from the other ESP in the finished product. I had some trouble with the motor driver as it was not letting two wires into one output(I am doing a tank drive, so two motors per each side of the motor driver). For one output the screw was not going down. I was able to fix theses problems by using dupont wires which have more grip, so it wouldn’t fall out while I was screwing them in and also didn’t even need the screw to stay secure. I am hoping to make the glove and sync up the ESPs in the next milestone and hope to finish my modifications by my last milestone.

Circuit Diagrams

Robot Chassis Circuit

Glove Circuit

Arm Circuit

Code

Sender Code

// Modified from code over here: https://randomnerdtutorials.com/esp-now-two-way-communication-esp32/
#include <esp_now.h>
#include <WiFi.h>

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

int gyro_x, gyro_y, gyro_z;
long acc_x, acc_y, acc_z, acc_total_vector;
int temperature;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
long loop_timer;
int lcd_loop_counter;
float angle_pitch, angle_roll;
int angle_pitch_buffer, angle_roll_buffer;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output;


/////////////////////////////////////////////////////////////////////////



// REPLACE WITH YOUR RECEIVER MAC Address
uint8_t broadcastAddress[] = {0x08, 0x3A, 0xF2, 0x6D, 0x09, 0x6C};

// Structure example to send data
// Must match the receiver structure
typedef struct struct_message {
  float b;
  float c;
  bool e;
} struct_message;

// Create a struct_message called myData
struct_message myData;

// callback when data is sent
void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
  Serial.print("\r\nLast Packet Send Status:\t");
  Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
}
 
void setup() {
  // Init Serial Monitor
  Serial.begin(115200);





    // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);

  mpu.setGyroRange(MPU6050_RANGE_500_DEG);

  mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);
  

//////////////////////////////////////////////////////////////







 
  // Set device as a Wi-Fi Station
  WiFi.mode(WIFI_STA);

  // Init ESP-NOW
  if (esp_now_init() != ESP_OK) {
    Serial.println("Error initializing ESP-NOW");
    return;
  }

  // Once ESPNow is successfully Init, we will register for Send CB to
  // get the status of Trasnmitted packet
  esp_now_register_send_cb(OnDataSent);
  
  // Register peer
  esp_now_peer_info_t peerInfo;
  memcpy(peerInfo.peer_addr, broadcastAddress, 6);
  peerInfo.channel = 0;  
  peerInfo.encrypt = false;
  
  // Add peer        
  if (esp_now_add_peer(&peerInfo) != ESP_OK){
    Serial.println("Failed to add peer");
    return;
  }
}
 
void loop() {
  // Set values to send
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  
  acc_total_vector = sqrt((a.acceleration.x*a.acceleration.x)+(a.acceleration.y*a.acceleration.y)+(a.acceleration.z*a.acceleration.z));
  //57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians
  angle_pitch_acc = asin((float)a.acceleration.y/acc_total_vector)* 57.296;      
  angle_roll_acc = asin((float)a.acceleration.x/acc_total_vector)* -57.296;       

  angle_pitch_acc -= -1.89;                                             
  angle_roll_acc -= -6.1;
  
  myData.b = angle_pitch_acc;
  myData.c = angle_roll_acc;
  myData.e = true;

  Serial.print("acc_pitch: ");
  Serial.print(myData.b);
  Serial.print("    acc_roll: ");
  Serial.println(myData.c);

  // Send message via ESP-NOW
  esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &myData, sizeof(myData));
   
  if (result == ESP_OK) {
    Serial.println("Sent with success");
    
  }
  else {
    Serial.println("Error sending the data");
  }
  delay(100);
}

Receiver Code

// Modified from code over here: https://randomnerdtutorials.com/esp-now-two-way-communication-esp32/

#include <esp_now.h>
#include <WiFi.h>

int motorPin1=16; //left motor output 1
int motorPin2=17; //left motor output 2
int motorPin3=18;  //right motor output 1
int motorPin4=19;  //right motor output 2

// Structure example to receive data
// Must match the sender structure
typedef struct struct_message {

    float b;
    float c;
    bool e;
} struct_message;

int len;

// Create a struct_message called myData
struct_message myData;

// callback function that will be executed when data is received
void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
  memcpy(&myData, incomingData, sizeof(myData));
}
 
void setup() {
  // Initialize Serial Monitor
  Serial.begin(115200);
  
  // Set device as a Wi-Fi Station
  WiFi.mode(WIFI_STA);

  // Init ESP-NOW
  if (esp_now_init() != ESP_OK) {
    Serial.println("Error initializing ESP-NOW");
    return;
  }
  
  pinMode(motorPin1,OUTPUT);
  pinMode(motorPin2,OUTPUT);
  pinMode(motorPin3,OUTPUT);
  pinMode(motorPin4,OUTPUT);
  
  // Once ESPNow is successfully Init, we will register for recv CB to
  // get recv packer info
  //  esp_now_register_recv_cb(OnDataRecv);
}
 
void loop() {
  esp_now_register_recv_cb(OnDataRecv);
  
  if(myData.e){
    Serial.print("Bytes received: ");
    Serial.println(len);
    Serial.print("Pitch: ");
    Serial.println(myData.b);
    Serial.print("Roll: ");
    Serial.println(myData.c);
    Serial.print("Bool: ");
    Serial.println(myData.e);
    Serial.println();
    myData.e = false;

    delay(500);
  }
  if(myData.c > 30){
    digitalWrite(motorPin1,HIGH);
    digitalWrite(motorPin2,LOW);
    digitalWrite(motorPin3,HIGH);
    digitalWrite(motorPin4,LOW);
  }

  else if(myData.c < -27){
    digitalWrite(motorPin1,LOW);
    digitalWrite(motorPin2,HIGH);
    digitalWrite(motorPin3,LOW);
    digitalWrite(motorPin4,HIGH);
  }
  
  else if(myData.b > 26){
    digitalWrite(motorPin1,HIGH);
    digitalWrite(motorPin2,LOW);  
    digitalWrite(motorPin3,LOW);
    digitalWrite(motorPin4,HIGH);
  }
  
  else if(myData.b < -26){
    digitalWrite(motorPin1,LOW);
    digitalWrite(motorPin2,HIGH);
    digitalWrite(motorPin3,HIGH);
    digitalWrite(motorPin4,LOW);
  }

  else{
    digitalWrite(motorPin1,LOW);
    digitalWrite(motorPin2,LOW);
    digitalWrite(motorPin3,LOW);
    digitalWrite(motorPin4,LOW);
  }
     
}