Grand-Theft-Autonomous-G30

This is the repository for project Grand Theft Autonomous @ MEAM5100 UPenn

Software Architecture:

Libraries:

• ESP32Encoder library v0.8.0 for ESP32-S2: https://www.arduino.cc/reference/en/libraries/esp32encoder/

• Vive510 library: provided by Prof. Mark Yim

• HTML510 library: provided by Prof. Mark Yim

Project Report

Pin Assignment

• 2 motor encoders, 2 each, 4 total

• 2 motor drivers, 1 PWM each, 2 direction pin each, 6 total

• 2 servos, 1 PWM pin each, 2 total

• 2 vive phototransistors, 1 each, 2 total

• 2 ToF sensors, 2 I2C total

• 2 IR photosensors, 1 each, 2 total

• ESP32-S2-DEVKitC-1 and ESP32-C3 Pins

  Link to documentation: https://www.espressif.com/sites/default/files/documentation/esp32-s2-solo-2_esp32-s2-solo-2u_datasheet_en.pdf

  

Motor

• 选取的型号对应12V 130RPM，减速比46.8，电机编码器在电机转一圈输出11个脉冲，因此小车车轮转一圈应输出514.8个脉冲。

  

• 但实际测量使用ESP32Encoder v0.8.0 (https://www.arduino.cc/reference/en/libraries/esp32encoder/)的库时，似乎是一圈约987.5个脉冲，因此还是使用987.5

Bill of Materials:

• Link to Google Docs: https://docs.google.com/spreadsheets/d/1sigmSafWP6qNnaDdqdoLOz4CRqCdhQDDr3Bc3lbWQeE/edit#gid=943090944