LineFollower_SemrehV2_Code

The main code of the Line Follower Robot "Semreh" in its 2nd revision, designed and developed by Tamandutech UFABC.

Hardware

ESP32-WROOM-32 Module
ADC - MCP3008
8x QRE1113 as main sensors
PCB 1.6mm as Chassis
ESC 4in1 BlHeli 15A
4x Brushless Motors 1103 8000kv
LiPo 3S 350 mAh 70C

PINOUT - ESP32

ADC

Function	Port
CLK	GPIO18
OUT ADC	GPIO19
IN ADC	GPIO22
CS/SHDN	DGPIO23

Laterais

Function	Port
OUT Esquerdo	GPIO39
OUT Direito	GPIO33

Driver Motor

Function	Port
PWMA	GPI14
PWMB	GPIO13
IN Direito 1	GPIO25
IN Direito 2	GPIO21
IN Esquerdo 1	GPIO26
IN Esquerdo 2	GPIO27
STBY	GPIO17

Encorder

Function	Port
OUT Esquerdo A	GPIO34
OUT Esquerdo B	GPI35
OUT Direito A	GPIO16
OUT Direito B	GPIO04

LEDs - WS2812B

Function	Port
IN DATA	GPIO32

Buzzer

Function	Port
IN DATA	GPIO12

Software

Programmed in Vscode with PlatformIO.
Arduino IDE as Framework.
C++

//Source Code:
if (line() == true) {
    run.fast();
}
//Just kidding