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Running

  • IP of the ESP-32 running this is set constant at 192.168.1.16
  • HTTP GET to http://192.168.1.16/?left-side=<###>&right-side=<###>
    • the numbers in parameters correspond to "percentage powers" of chassis motors from -100 to +100

Dependencies

  • arduino-esp32 core header files

  • ESPAsyncWebServer library

  • Built-in Arduino headers

  • Note: these should be installed in ~/Document/Arduino/libraries

src.ino

Main controller code for this project.

Electrical.hh

Custom API's for setting up and using PWM channels connected to Vex Victor motor controllers.

CommunicationStuff.hh

Custom HTTP callbacks for interpreting drive commands and paramaters from the control station (see MissionControl repository). Code for sending back JSON with sensor data values.

ReadSensors.hh

Functions for reading data from current sensors and rotary encoders.