ESP32 Cam

ESP32 Cam EZB

Hardware: ESP32 Cam ESP32 Cam

Author: DJ Sures

This firmware converts a ESP32 Cam into an EZB for ARC to connect to it.

This firmware transforms the ESP32 Cam module into a fully functional EZ-B with an integrated Synthiam ARC camera, providing a powerful all-in-one solution for robotics and IoT applications. The firmware allows the ESP32 Cam to simultaneously operate as a video streaming device and a controller for peripherals like servos and sensors, making it an ideal choice for compact, feature-rich projects.

Key Features:

  1. EZ-B Compatibility: The firmware enables the ESP32 Cam to emulate an EZ-B, making it compatible with Synthiam ARC for controlling robotics systems and IoT devices.
  2. Integrated Camera: The ESP32 Cam’s built-in camera streams video directly to Synthiam ARC, offering real-time visual feedback alongside EZ-B functionality.
  3. Dual Functionality: Supports servo control and camera streaming simultaneously, making it versatile for applications requiring both visual monitoring and peripheral actuation.

Recommended GPIO Pins for Servos:

To ensure smooth operation of both the camera and peripheral controls, the following pins are recommended for use in servo control while the camera is active:

  • D2
  • D12
  • D13
  • D14
  • D15

These pins are optimized to avoid conflicts with the camera's operation and other internal processes, ensuring reliable performance in EZ-B mode.

How It Works:

  1. EZ-B Functionality: The ESP32 Cam handles peripheral controls, such as servo motors, sensors, and other devices, through Synthiam ARC commands.
  2. Video Streaming: The built-in camera streams video directly to Synthiam ARC, enabling real-time monitoring and control.
  3. Resource Allocation: The firmware ensures efficient management of the ESP32 Cam's resources, prioritizing critical functions like video streaming and servo control.

Benefits:

  1. Compact All-in-One Solution: Combines the functionality of an EZ-B and a camera into a single, compact device, saving space and reducing complexity in your projects.
  2. Cost-Effective: Offers a budget-friendly alternative to traditional EZ-B and camera setups while retaining full compatibility with Synthiam ARC.
  3. Versatile Applications: Suitable for robotics, home automation, surveillance, and other IoT projects requiring simultaneous video streaming and peripheral control.

Use Case Example:

This setup is perfect for robotic systems that require both camera feedback and precise control of servos or other peripherals. For instance:

  • A robotic arm with a camera for object recognition and manipulation.
  • A mobile robot with live video streaming and servo-driven navigation or gripper control.

By converting the ESP32 Cam into an EZ-B with an integrated camera, this firmware unlocks a versatile and efficient solution for advanced robotics and IoT applications.


  1. Install libraries into arduino ide: https://dl.espressif.com/dl/package_esp32_index.json

  2. Board manager install ESP32 by Espressif Systems

This project builds using...

  • Espressif Systems esp32 library version 3.0.7
  • ESP32Servo by Kevin Harrington version 3.0.6
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • Added editable definitions at the top of the ino source file for enabling/disabling features
Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • Increase the auto compression adjustment jump from 1 to 5 so it responds quicker.
Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • Works with servo & Camera at the same time
  • Added a note that the default IP address in AP Mode is (192.168.50.1)
Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • Works with servos & camera at the same time
Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • added dynamic camera compression

  • mapped Dx to GPIOx (i.e. ARC D4 = GPIO4, which is the FLASH LED)

Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

Version Information

  • First check-in of the ESP32 Cam firmware

*Note: For servo use with EZ-Cam, only pins 2,4,12-19,21-23,25-27,32-33 are recommended.

Click to show supported capabilities
Supported Capabilities
  • 12 Byte Unique Identifier
    Each controller has a unique identifier that can be referenced. This is to keep track in EZ-Builder projects which controller is being used and user logic specific to the ID.
  • ADC with 12 bit Resolution
    The ADC captures analog voltage at 8 bit resolution. This means the native value will be an 8 bit (0-4095) from the controller.
  • Can stream video v4 codec
    The controller supports the streaming Video v4 codec on a TCP or UART or USB connection.
  • Hardware UART TX/RX with DMA buffer and adjustable baud rate
    Contains 1 or more hardware UARTs with TX/RX functionality and DMA RX buffering.
  • Native WiFi Connectivity from ARC
    Controller supports WiFi connectivity using TCP between your computer with ARC.
  • PWM Duty on digital ports
    Digital ports can output a PWM between 0% and 100%.
  • PWM servos on digital ports
    The controller supports PWM Servos on digital ports. These are also called Hobby servos.
  • PWM servos on digital ports can release their position
    PWM servo driver on digital ports support the feature to release their holding position.
  • Read/Write Digital I/O Ports
    The ports marked as being digital will respond to Read and Write commands of boolean logic. The status of the digital port will be either TRUE or FALSE when voltage is detected or not, respectively.
  • Transmit Uart TX on all digital ports
    All digital ports support the ability to transmit (TX) serial/uart data at various pre-determined baud rates.

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PRO
USA
#2  

It's not really a good cam at all. Bought one that was a great deal (less then $5.00 from Aliexpress) about 6 months back. Couldn't get it to focus right, thought it was bad so purchased just another camera, less the ESP32, same thing. It's ok if you want to use it for a stationary shot but terrible on anything that moves. I found it to be a great cam to monitor my 3D printer over my phone. If the focus is not good you can cut the small glue mark that's around the lens and then turn the lens to focus on the spot you need. If that makes sense?

PRO
Canada
#4  

I agree not brilliant camera but it is very small, self contained, wireless and all you need to provide is power.  Good enough for Computer vision and object tracking (what I need it for). If we can also use the GPIO pins to control servo's or read sensors even better and you connect direct to It just like an EZB.

I plan to have 4 of these on my robot 1 inside each hand (So I can identify objects, orientate to the alignment of that object and position hand to grab that object based on orientation. Also plan to put some on feet to know when am about to trip and fall, align to kick a ball etc.

PRO
Synthiam
#5  

The ezb mode does use gpio for digital and servos. every esp uses different pins for the camera, making it non-standard across different versions. Like all open source and low cost items like this, there’s no standard for us to implement. You’ll need to check the camera pinout file to see what pins are being used by the camera.

additionally, the gpio numbers relate to ARC Dx ports. So look at the diagram on the hardware page and those should work. But again, there’s no standard across esp32 cam versions.

You’d need to...

  1. look at the hardware page and the pinout diagram: https://synthiam.com/Support/Hardware/ESP32-Cam

  2. check in the firmware what type of camera you’re using (the #define statement that’s uncommented that works for you)

  3. use that type of camera to look at the camera pinout file included in the firmware and compare which pins are being used for the camera

PRO
Canada
#6  

For the Ai Thinker it looks like I need to brush up on my soldering skills as they decided to put the pins used by the camera on the header and not the free pins.   https://github.com/raphaelbs/esp32-cam-ai-thinker/blob/master/docs/esp32cam-pin-notes.md You can still get access to the pins directly on the main board but this could be a bit of a nightmare. If I can't find 5 free pins I wonder if I can add a small ATTiny using serial connection back to ESP32-CAM http://embedded-lab.com/blog/wp-content/uploads/2015/12/8048281449822227147.jpg

User-inserted image

PRO
Synthiam
#7  

Wow that’s a poor design LOL. In the words of AVGN... what were they thinking?!

PRO
Canada
#8  

Reading the forums others have been tackling this problem.

apparently, have not tested yet,  GPIO0 is only used for enabling flashing firmware l, So this is free.

You can use TX & RX and this gives you GPIO 1 & 3

Put SD card in 1 bit mode with command  SD_MMC.begin("/sdcard", true) This gives access to 12 &13

You can use GPIO 4 but flash still goes off when you use it.

So this should free GPIO0, GPIO1, GPIO3, GPIO12, GPIO13 and GPIO4 flashing camera light when using.

https://www.esp32.com/viewtopic.php?t=13141

https://esp32.com/viewtopic.php?t=11471