Igor Fonseca Albuquerque
Published © CC BY-NC-SA

Wi-fi Controlled FPV Rover Robot (with Arduino and ESP8266)

This project shows how to design a wi-fi remotely controlled two-wheeled robotic rover, using an Arduino Uno and an ESP8266.

IntermediateFull instructions provided4 hours69,518
Wi-fi Controlled FPV Rover Robot (with Arduino and ESP8266)

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Arduino Proto Shield
Arduino Proto Shield
×1
ESP8266 ESP-01
Espressif ESP8266 ESP-01
×1
28BYJ Stepper motor
×2
ULN2003 stepper driver
×1
Android device
Android device
×1
Resistor 1k ohm
Resistor 1k ohm
×1
Resistor 100k ohm
Resistor 100k ohm
×2
Power bank
×1
42x19mm wheels with rubber tread tire
×2
49x20x32mm steel ball omni wheel
×1
M2 x 10mm bolts
×12
M2 x 1,5mm nuts
×12
M3 x 10mm bolts
×8
M3 x 1,5mm nuts
×8
5/32" x 1" bolts
×3
5/32" nuts
×6
Handheld selfie stick clip
×1
3 x 3 cm aluminum bracket
×2
2mm acrylic sheet
×1

Software apps and online services

IP Webcam
Fusion
Autodesk Fusion
Draftsight
Arduino IDE
Arduino IDE
Notepad++

Hand tools and fabrication machines

Drilling machine
Hand saw

Story

Read more

Custom parts and enclosures

3D model

123D design file.

Base

2D design of the base.

Schematics

Schematics

Circuit schematic

Breadboard connection

Breadboard connection of the circuit

Fritzing file

Fritzing file of the circuit

Code

Arduino

Arduino
Arduino code.
//include libraries
#include <SoftwareSerial.h>
#include <Stepper.h>

SoftwareSerial esp8266(3, 2); //RX pin = 3, TX pin = 2

//definition of variables
#define DEBUG true //show messages between ESP8266 and Arduino in serial port
const int stepsPerRevolution = 500;
int state = 5;

Stepper rightStepper(stepsPerRevolution, 8,10,9,11);
Stepper leftStepper(stepsPerRevolution, 4,6,5,7);

//*****
//SETUP
//*****
void setup()
{
  //start communication
  Serial.begin(9600);
  esp8266.begin(19200);
  
  sendData("AT+RST\r\n", 2000, DEBUG); //reset module
  sendData("AT+CWMODE=1\r\n", 1000, DEBUG); //set station mode
  sendData("AT+CWJAP=\"XXXXX\",\"YYYYY\"\r\n", 2000, DEBUG); //connect wi-fi network
  while(!esp8266.find("OK")) { //wait for connection
  } 
  sendData("AT+CIFSR\r\n", 1000, DEBUG); //show IP address
  sendData("AT+CIPMUX=1\r\n", 1000, DEBUG); //allow multiple connections
  sendData("AT+CIPSERVER=1,80\r\n", 1000, DEBUG); // start web server on port 80
  
  //Define motor speed
  rightStepper.setSpeed(60);
  leftStepper.setSpeed(60);
  
}

void loop()
{
  
  if (esp8266.available())  //verify incoming data
  {
    if (esp8266.find("+IPD,")) //if there is a message
    {
      String msg;
      esp8266.find("?"); //look for the message
      msg = esp8266.readStringUntil(' '); //read whole message
      String command = msg.substring(0, 3); //first 3 characters = command
      String valueStr = msg.substring(4);   //next 3 characters = value
      int value = valueStr.toInt();
      if (DEBUG) {
        Serial.println(command);
        Serial.println(value);
      }
           
      //move forward
      if(command == "cm1") {
          state = 1;
      }

      //move backward
      if(command == "cm2") {
          state = 2;
      }

      //turn right
      if(command == "cm3") {
          state = 3;
       }
       
       //turn left
       if(command == "cm4") {
          state = 4;
       }

       //do nothing       
       if(command == "cm5") {
          state = 5;
       }

    }
  }
  
  //move forward
  if (state == 1) {
    rightStepper.step(1);
    leftStepper.step(-1);    
  }
  //move backward
  if (state == 2) {
    rightStepper.step(-1);
    leftStepper.step(1);    
  }
  //move right
  if (state == 3) {
    rightStepper.step(1);
    leftStepper.step(1);    
  }
  //move left
  if (state == 4) {
    rightStepper.step(-1);
    leftStepper.step(-1);    
  }
  //do nothing
  if (state == 5) {
  }
  
}

//*******************
//Auxiliary functions
//*******************

String sendData(String command, const int timeout, boolean debug)
{
  String response = "";
  esp8266.print(command);
  long int time = millis();
  while ( (time + timeout) > millis())
  {
    while (esp8266.available())
    {
      char c = esp8266.read();
      response += c;
    }
  }
  if (debug)
  {
    Serial.print(response);
  }
  return response;
}

html control interface

HTML
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Credits

Igor Fonseca Albuquerque

Igor Fonseca Albuquerque

18 projects • 385 followers
Electrical and Mechanical engineer, master in automation and control. specialist in industrial instrumentation. Mad scientist and inventor.

Comments

Related channels and tags
  • Android
  • Arduino
  • Autodesk
  • Espressif
  • Robotics