The ESP32-CAM is a small, affordable WiFi microcontroller board that includes an onboard camera and enough GPIO to control simple robotics hardware. When you flash the Synthiam ESP32-CAM firmware, the board behaves like an EZ-B compatible controller: ARC can connect to it over WiFi, stream the camera, and use the GPIO that doesn’t conflict with the camera wiring.

Vision in ARC: The camera stream is exposed to ARC through the Camera Device robot skill, giving your ARC robot real-time vision for features like tracking, detection pipelines, and any camera-enabled skills you use in your project.

What this firmware provides

WiFi camera streaming to ARC (via the Camera Device robot skill)
EZ-B style connectivity so ARC can control supported GPIO
Configurable WiFi mode (AP or Client)
Pin mapping to translate ARC ports (D0-D23) to ESP32 GPIO pins

Setup guidance

Each firmware build includes configuration details and model-specific notes to help you: select the correct camera model define, choose WiFi mode, confirm the IP address, and avoid pin conflicts. Always follow the firmware’s comments and documentation for your specific board.

Supported Camera Models

The firmware supports multiple ESP32 camera boards. Select the matching model in the firmware by enabling the correct #define CAMERA_MODEL_... entry before compiling.

CAMERA_MODEL_AI_THINKER Common
CAMERA_MODEL_WROVER_KIT
CAMERA_MODEL_ESP_EYE
CAMERA_MODEL_M5STACK_PSRAM
CAMERA_MODEL_M5STACK_V2_PSRAM
CAMERA_MODEL_M5STACK_WIDE
CAMERA_MODEL_M5STACK_ESP32CAM
CAMERA_MODEL_M5STACK_UNITCAM
CAMERA_MODEL_M5STACK_CAMS3_UNIT

CAMERA_MODEL_TTGO_T_JOURNAL
CAMERA_MODEL_XIAO_ESP32S3
CAMERA_MODEL_ESP32_CAM_BOARD
CAMERA_MODEL_ESP32S3_CAM_LCD
CAMERA_MODEL_ESP32S2_CAM_BOARD
CAMERA_MODEL_ESP32S3_EYE
CAMERA_MODEL_DFRobot_FireBeetle2_ESP32S3
CAMERA_MODEL_DFRobot_Romeo_ESP32S3

Important: Camera boards often reuse GPIO pins internally for the camera sensor, SD, flash LED, or PSRAM. That means some GPIO pins cannot be used for servo/digital I/O while the camera is active. This isn’t an ARC limitation; it’s a board wiring reality. The firmware documentation calls out common conflicts and recommended pins.

WiFi Modes

The firmware supports two WiFi modes. Choose the one that best matches how you run ARC.

AP Mode (Direct Connect)

The ESP32-CAM creates its own WiFi network and your PC connects directly to it. This is simple for quick testing and field use when you don’t want a router involved.

Client Mode (Join Your Network)

The ESP32-CAM connects to your existing WiFi router. ARC then connects using the IP address assigned by your network. Use the Arduino Serial Monitor at 115200 baud to view connection status and the IP address.

Port Configuration and Pin Mapping

ARC labels controller ports as D0 - D23, while ESP32 boards label pins as GPIO numbers that vary by board and camera wiring. The firmware includes a mapping layer so ARC can consistently talk in D-ports, while the firmware translates those ports to the correct GPIO pins for your camera model.

Why mapping exists: Different ESP32-CAM boards wire the camera to different GPIO sets, and some GPIO pins are unavailable while the camera is running. The mapping lets the firmware pick safe pins per model while keeping the ARC experience consistent.

ARC to ESP32 GPIO port mapping chart — Example port mapping reference. Always follow the firmware’s model-specific mapping and conflict notes for your board.

Notes About Servos and Pin Conflicts

Some boards (especially common AI Thinker style modules) have a handful of pins that often work well for servos, but the exact safe pins can differ by board revision, camera model, and whether the flash LED or SD card is enabled.

AI Thinker example: Many users report servos working on pins such as D2, D12, D13, D14, and D15, but you must validate this on your specific model. If a pin doesn’t behave correctly, try a different pin that the firmware indicates is not used by the camera.

Common cause of issues: If a GPIO pin is shared with the camera wiring (or other onboard features), the camera may still work, but that GPIO cannot reliably be used for I/O at the same time. The firmware includes notes and configuration details to help you avoid these conflicts.

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smiller29

PRO

USA

#17 Jul 2023

DJ, So how should this call be changed to correct the following error? So I can get this to compile correctly?

/Users/shawn/Documents/Arduino/EZ_ESP32_CAM/EZ_ESP32_CAM.ino: In function 'void doEZProtocol()':
/Users/shawn/Documents/Arduino/EZ_ESP32_CAM/EZ_ESP32_CAM.ino:755:49: error: call of overloaded 'analogWrite(byte&, long int)' is ambiguous
       analogWrite(port, map(pos, 0, 100, 0, 255));
                                                 ^

DJ Sures

PRO

Synthiam

#18 Jul 2023

Answered above. Cast port to a byte. Or map to a byte. One of the two needs to be a byte with your compiler.

smiller29

PRO

USA

#19 Jul 2023 — Edited Jul 2023

So I changed it to this and it compiled...

analogWrite(port, byte(map(pos, 0, 100, 0, 255)));

DJ Sures

PRO

Synthiam

#20 Jul 2023

Haha man arduino is so weird. So byte() is also a function? That’s hilarious

I would have expected traditional C to be


analogWrite(port, (byte)map(pos, 0, 100, 0, 255));

but they have a byte() and probably an int() and such ha too funny

steven.williams

Unknown Country

#21 Feb 2024

DJ Sures PRO your solution has compiled for me, thanks

orbitta2

United Kingdom

#22 Mar 2025 — Edited Mar 2025

Hi.

Is it works with Freenove ESP32-WROVER CAM Board

https://www.amazon.co.uk/dp/B0CJJHXD1W

UPDATED.

OK, sorted, maybe will be helpful for somebody.

Uncomment: CAMERA_MODEL_WROVER_KIT

Thanks, Tomas

ESP32 Cam by Espressif

Firmware

What this firmware provides

Setup guidance

Supported Camera Models

WiFi Modes

AP Mode (Direct Connect)

Client Mode (Join Your Network)

Port Configuration and Pin Mapping

Notes About Servos and Pin Conflicts

Upgrade to ARC Pro

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Community

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