最低成本DIY视频遥控车方案：ESP32-CAM视频遥控车

引言：

ESP32系列模块由于可以用ESP32来进行编程，因此广受欢迎。而ESP32 CAM模块由于经济小巧并自带摄像头而更为创客们所青睐。今天给大家介绍一个互动性强的ESP32 CAM游戏，用ESP32 CAM来做一款摄像头小车，带LED灯光控制和伺服电机控制。当然稍加改动，就可以做出许多更实用的项目

第一步：展示内容

打开摄像头，获取静态照片，获取流视频，小车的前进，后退和左右转弯。LED的灯光开闭，伺服电机的控制等

第二步：IP地址的获取

ESP32模块的IP地址是通过手机上下载的Fing软件获取的。

第三步：硬件搭建

所需器材：

（1）ESP32-CAM控制器 快速购买

（2）小车底盘

（3）电机驱动

（4）电源转接头

（5）USB数据线

（6）DF的电源模块， 

（7）5v2A移动电源。

第四步：了解一下ESP32-CAM的连线和烧录

ESP32-CAM的烧录需要FTDI模块的帮助，然后安装支持文件和进行相关的板子的设置。

第五步：

发一些硬件的图片。让人有个直观的认识

DF的电源模块

5v2A移动电源，必须是用2A来驱动，否则无法工作

电机驱动的型号不详，某宝里买的-MX1508-2路直流电机驱动模块 正反转 PWM调速 双H桥步进电机迷你超L298N

小车底盘是自己改装的

第六步：总体介绍

摄像头小车的设计系统是由ESP32-cam，电机驱动和电源模块来完成的。可以实现小车的前进，后退，左转和右转。开灯，打开伺服等动作，操控起来没有迟滞感，流视频也很流畅。

第七部：连线图

第八部：代码部分的设计

代码部分的WIFI密码等要填你自己的信息

这个代码是主文件，其它几个支持文件是从样例里直接拷贝的。上图手写ok字样那张上面有支持文件的名称。

    /@@*
    This sketch is made by gada888
    2020-7-27
    */
    const char* ssid = "xxxxx";
    const char* password = "xxxxx";
    #include "esp_camera.h"
    #include 
    #include "soc/soc.h"
    #include "soc/rtc_cntl_reg.h"
    // WARNING!!! Make sure that you have either selected ESP32 Wrover Module,
    //            or another board which has PSRAM enabled
    //CAMERA_MODEL_AI_THINKER
    #define PWDN_GPIO_NUM     32
    #define RESET_GPIO_NUM    -1
    #define XCLK_GPIO_NUM      0
    #define SIOD_GPIO_NUM     26
    #define SIOC_GPIO_NUM     27
    #define Y9_GPIO_NUM       35
    #define Y8_GPIO_NUM       34
    #define Y7_GPIO_NUM       39
    #define Y6_GPIO_NUM       36
    #define Y5_GPIO_NUM       21
    #define Y4_GPIO_NUM       19
    #define Y3_GPIO_NUM       18
    #define Y2_GPIO_NUM        5
    #define VSYNC_GPIO_NUM    25
    #define HREF_GPIO_NUM     23
    #define PCLK_GPIO_NUM     22
    void startCameraServer();
    void setup() {
      WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
      Serial.begin(115200);
      Serial.setDebugOutput(true);
      Serial.println();
      camera_config_t config;
      config.ledc_channel = LEDC_CHANNEL_0;
      config.ledc_timer = LEDC_TIMER_0;
      config.pin_d0 = Y2_GPIO_NUM;
      config.pin_d1 = Y3_GPIO_NUM;
      config.pin_d2 = Y4_GPIO_NUM;
      config.pin_d3 = Y5_GPIO_NUM;
      config.pin_d4 = Y6_GPIO_NUM;
      config.pin_d5 = Y7_GPIO_NUM;
      config.pin_d6 = Y8_GPIO_NUM;
      config.pin_d7 = Y9_GPIO_NUM;
      config.pin_xclk = XCLK_GPIO_NUM;
      config.pin_pclk = PCLK_GPIO_NUM;
      config.pin_vsync = VSYNC_GPIO_NUM;
      config.pin_href = HREF_GPIO_NUM;
      config.pin_sscb_sda = SIOD_GPIO_NUM;
      config.pin_sscb_scl = SIOC_GPIO_NUM;
      config.pin_pwdn = PWDN_GPIO_NUM;
      config.pin_reset = RESET_GPIO_NUM;
      config.xclk_freq_hz = 20000000;
      config.pixel_format = PIXFORMAT_JPEG;
      //init with high specs to pre-allocate larger buffers
      if(psramFound()){
        config.frame_size = FRAMESIZE_UXGA;
        config.jpeg_quality = 10;  //0-63 lower number means higher quality
        config.fb_count = 2;
      } else {
        config.frame_size = FRAMESIZE_SVGA;
        config.jpeg_quality = 12;  //0-63 lower number means higher quality
        config.fb_count = 1;
      }
      // camera init
      esp_err_t err = esp_camera_init(&config);
      if (err != ESP_OK) {
        Serial.printf("Camera init failed with error 0x%x", err);
        delay(1000);
        ESP.restart();
      }
      //drop down frame size for higher initial frame rate
      sensor_t * s = esp_camera_sensor_get();
      s->set_framesize(s, FRAMESIZE_QVGA);  // UXGA|SXGA|XGA|SVGA|VGA|CIF|QVGA|HQVGA|QQVGA
      //Servo
      ledcAttachPin(2, 3);  
      ledcSetup(3, 50, 16);
      ledcWrite(3, 4850);
      //Flash
      ledcAttachPin(4, 4);  
      ledcSetup(4, 5000, 8);
      //Wheel
      ledcAttachPin(12, 5);  //You can adjust the speed of the wheel. (gpio12, gpio13)
      ledcSetup(5, 5000, 8);      
      ledcAttachPin(13, 6);
      ledcSetup(6, 5000, 8); 
      ledcWrite(6, 0);   
      pinMode(15, OUTPUT);  //If I output PWM to GPIO 15 using ledcWrite, it will lose control. Why?
      pinMode(14, OUTPUT);  
      Serial.println("ssid: " + (String)ssid);
      Serial.println("password: " + (String)password);
      WiFi.begin(ssid, password);
      long int StartTime=millis();
      while (WiFi.status() != WL_CONNECTED) {
          delay(500);
          if ((StartTime+10000) < millis()) break;
      }
      startCameraServer();
      char* apssid = "ESP32-CAM";
      char* appassword = "12345678";         //AP password require at least 8 characters.
      Serial.println("");
      Serial.println("WiFi connected");    
      Serial.print("Camera Ready! Use 'http://");
      if (WiFi.status() == WL_CONNECTED) {
        Serial.print(WiFi.localIP());
        Serial.println("' to connect");
        WiFi.softAP((WiFi.localIP().toString()+"_"+(String)apssid).c_str(), appassword);    
        for (int i=0;i<5;i++) {
          ledcWrite(4,10);
          delay(200);
          ledcWrite(4,0);
          delay(200);    
        }       
      }
      else {
        Serial.print(WiFi.softAPIP());
        Serial.println("' to connect");
        WiFi.softAP((WiFi.softAPIP().toString()+"_"+(String)apssid).c_str(), appassword);    
        for (int i=0;i<2;i++) {
          ledcWrite(4,10);
          delay(1000);
          ledcWrite(4,0);
          delay(1000);    
        } 
      }    
    }
    void loop() {
      // put your main code here, to run repeatedly:
      delay(10000);
    }

代码烧录完后，在手机上打开浏览器，在地址栏输入你在Fing软件里看到的ESP32的IP地址，之后便可以看到你想看的html页面了。