Omnidirectional Robot Control with PS4 Controller

Introduction

Brief overview of the project and its objectives.

Features

• Control of an omnidirectional robot using a PS4 controller.
• Integration of motors, ESP32 microcontroller, and PS4 communication.

Hardware Requirements

List of components needed to replicate the project.

• ESP32 microcontroller
• Four omnidirectional wheels with DC motors
• L298N motor drivers (2 units)
• PS4 controller
• LIPO battery pack
• Connecting wires

Software Requirements

Dependencies and libraries required to run the project.

• PS4Controller library for Arduino IDE
• ESP32 board package for Arduino IDE

Installation Instructions

Step-by-step guide on how to set up the project environment.

1. Hardware Setup:

   • Connect IN1, IN2, IN3, and IN4 of the motor driver to GPIO pins 16, 17, 18, and 19 of the ESP32, respectively.
   • Connect IN5, IN6, IN7, and IN8 of the motor driver to GPIO pins 25, 26, 27, and 32 of the ESP32, respectively.
   • Connect ENA and ENB of the motor driver to GPIO pins 14 and 12 of the ESP32.
   • Connect ENA2 and ENB2 of the motor driver to GPIO pins 15 and 2 of the ESP32.
   • Connect the motors to the outputs of the motor driver.

2. Software Setup:

   • Install necessary libraries in Arduino IDE (PS4Controller and ESP32 board package).
   • Upload the provided Arduino sketch to the ESP32.

Usage

Instructions on how to use the robot with the PS4 controller.

1. Pairing PS4 Controller:

   • Obtain the MAC address of your PS4 controller.
   • Update the MAC address in the Arduino sketch.
   • Power on the PS4 controller and ESP32, then establish connection.

2. Controlling the Robot:

   • Use the left stick for forward/backward motion and right stick for rotation.
   • L2 trigger for left lateral movement and R2 trigger for right lateral movement.

Code Explanation

Detailed breakdown of the Arduino sketch functionality.

• Setup Function: Initializes GPIO pins and establishes PS4 controller connection.
• Loop Function: Continuously monitors PS4 controller inputs and adjusts motor speeds accordingly.
• Motor Control Functions: Detailed description of functions for forward, backward, lateral, and rotational movements.

Enhancements

Suggestions for expanding and improving the project.

• Adding sensors for obstacle avoidance.
• Integrating with external systems or platforms.
• Optimizing control logic for specific applications.

Additional Features

Description of optional components added to the robot.

• FPV Camera and VTX Module: Provides live video feedback to a FPV headset.

Resources

Links to external resources, such as:

• PS4Controller library GitHub repository
• ESP32 board package installation guide

Conclusion

Final thoughts on the project and encouragement for further exploration. More informations : https://www.borninthe80s.fr/2024/06/29/conception-de-mon-robot-a-roues-omnidirectionnels/ and https://www.borninthe80s.fr/2024/07/14/conception-de-mon-robot-a-roues-omnidirectionnels-partie-2/

Support

Instructions for seeking help or contributing to the project.

• Issues: Report any bugs or problems.
• Pull Requests: Submit improvements or new features.