AMR Car ESP32

This project is an implementation of an Autonomous Mobile Robot (AMR) using an ESP32 microcontroller. The robot is equipped with motor control, PID management, encoder feedback, and micro-ROS communication.

⚙️ Setup

📌 Install Required Libraries

Before getting started, install the following libraries in Arduino IDE:

Library	Version
PID	1.2.0
ArduinoJson	7.3.0
ESP32Servo	3.0.6
ESP32Encoder	0.11.7
EspSoftwareSerial	8.1.0
Adafruit PWM Servo Driver Library	3.0.2

---

🔹 Install Micro ROS Arduino Library (Humble)

Follow these steps to manually install Micro ROS Arduino Library (Humble):

1. Download the Library

   • Visit the Micro ROS Arduino Repository.
   • Download the latest Humble ZIP package.

2. Add Library to Arduino IDE

   • Open Arduino IDE.
   • Navigate to Sketch → Include Library → Add .ZIP Library.
   • Select the downloaded micro_ros_arduino.zip and click Open.

3. Done! 🎉

   • Micro ROS is now installed and ready to use in your Arduino projects.

---

⚡ Configure the Pins

• Define the required GPIO pins in params.hpp based on your hardware setup.

---

🔄 Enable Reverse Mode

• If you need reverse mode, uncomment the following line in params.hpp:

  #define REVERSE_PINS
  
  
  

Usage

1. Serial Communication:

   • The serial communication is handled by CarSerial.cpp and CarSerial.h. It supports both software and hardware serial communication.

2. PID Management:

   • The PID control for the motors is managed by PIDManager.h.

3. Encoder Management:

   • The encoder feedback is managed by EncoderManager.cpp and EncoderManager.h.

4. Micro-ROS Communication:

   • Visit the Micro ROS Arduino release page and download the ZIP file corresponding to your ROS2 version.

   • The micro-ROS communication is implemented in micro_ros.cpp and micro_ros.hpp.

5. Tasks:

   • The main tasks are defined in AMR_car_esp32.ino:
     • TaskSerialRead
     • TaskSerialWrite
     • TaskTestPID
     • TaskServo
     • TaskPID

Reverse

In params.hpp, there is the following definition:

#define REVERSE_PINS

To enable reverse mode, declare this variable. Otherwise, comment out this variable.