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Esp32 DevKit v1

Esp32 DevKit v1 by Espressif

Connection Type
Wi-Fi
Number of servos
25
Audio Support
No
Camera Support
No

The DOIT Esp32 DevKit v1 is a very affordable WiFi module with plenty of IO, including three hardware UARTs. Adding the firmware below, the WiFi module will become an EZB that ARC can connect. This firmware works with ARC versions greater or equal to 2019.06.25.00.

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


Firmware & Instructions

  1. In the Arduino IDE, add this link to File->Preferences->Libraries: https://dl.espressif.com/dl/package_esp32_index.json
  2. In the Arduino IDE, load the Board Manager, search for "ESP32 by Espressif Systems" and select INSTALL.
  3. Download the firmware from this page to your computer and extract it into a folder.
  4. Edit the source code firmware in the Arduino IDE and view the WiFi mode settings. You can choose between AP or Client mode. The appropriate settings for each method may be configured as well. Follow the instructions in the firmware code for configuring the WiFi modes.
  5. Program the device using Arduino's IDE and the firmware code. If you receive errors in the debug window of the Arduino IDE when programming, hold the BOOT button down on the ESP32 until you see WRITING in the Arduino debug window.
  6. View the status of the connection in the Arduino Serial Monitor set to 115,200 baud. Depending on your WiFi settings, you will see the WiFi connection status.
  7. Load ARC and connect to the ESP32 directly via WiFi if it is in AP Mode; otherwise, connect to the same network as Client Mode. The default IP Address for AP Mode will be 192.168.1.1. In Client mode, you must view the Serial Debug Monitor in Arduino IDE or check your router DHCP client list.


Video Tutorial


WiFi Modes

Two WiFi modes can be configured in the code. They are AP Mode, which turns the ESP32 into a WiFi server your computer connects directly to. The other mode is Client Mode, in which the ESP32 connects to your network router. Get the IP Address and connection status information by viewing the Serial Monitor set to 115,200 in Arduino IDE.


Port Configuration

The pins in ARC are labeled D0 - D23. The ESP32 has GPIO labeled pins, which are not in any ordered sequence. This translation chart below shows the mapping of the ESP GPIO to ARC Dx pins. The ports labeled TX/RX are the hardware UART ports, which correspond to hardware UART #0 in ARC.

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PRO
Canada
#15  
@EzAng, the ESP32 and the ESP8266 are different chips, so as @DJ mentioned you would need to tweak the EZ-B arduino code to make it work.

To put it frankly, I wouldn't bother with ESP8266 as it's the older version of the ESP32. The ESP32 has many more GPIO and ADC ports, and it looks like the ESP8266 has only 1 ADC port. The ESP32 is twice as fast as the ESP8266 and has also 2 cores. The price is only a fraction higher for the ESP32 so if it were me I'd choose the ESP32, hands down.
PRO
USA
#16   — Edited
ok sounds good, thanks Jeremie

EzAng
PRO
Canada
#17  
Wiring was getting too messy (even for me) so I created a little ESP32 servo shield. In hindsight I really don’t need the FTDI as I won’t reprogram it unless a new firmware comes out so I think I will order just the ESP chips from China  and make some smaller shields just for servo control.


User-inserted image
PRO
Synthiam
#18  
That's a great idea! Looks good with the sticker labels!
PRO
Canada
#20   — Edited
Small problem with ESP servo calibration and degrees of movement.   Take a HDD servo connect to an ESP and press center and it is about 10 degrees off. Now plug it into a EZB press center  Perfect.

OK recalibrate for ESP. Now add servo control and move it to 1 degree it should be at 90 degrees to servo motor but it is about 45 degrees. Now move it to 180 degrees and it is only at about 135 degrees.

now move back to 0 and press release and it will move back to 135 degrees   now move servo by hand to 0 and press release again  this time it moves back to 135 but doesnt release

using latest ESP firmware and port D5
PRO
Synthiam
#21  
That’s the esp32 servo firmware for ya. All of the arduino servo libraries are off a little. They weren’t written that well. Might want to take a look at other servo libraries to try instead of the one I choose. I think it choose that one because it was the highest recommended.
PRO
Synthiam
#23  
Wanna try a new firmware for me? I updated the servo library to the latest - see if this helps. Let me know if it works before I update it on the website firmware list: EZ-ESP32.zip
PRO
Canada
#24  
went to bed with a broken servo, woke up to a working servo.  Nice thank for the quick turn around.
you still have to recalibrate (although i guess I could use an offset with my bots that use them) and release doesn't work but I get 180 degrees and it is a lot snappier, the old driver was a bit grindy.

I think the ESP has a lot of promise as a controller. There are a lot of things that work with arduino like LIDAR etc and having a single $5 controller that does a lot of things with ARC would be great. 

I am sure the new ESP32-S3 will solve all the performance issues as well

https://www.espressif.com/en/news/ESP32_S3
PRO
Canada
#25  
New drivers work well with Robot Hand.  Question in Auto position, can you get two frames to execute at exact same time under the one action.  I played with delay and speed etc but I can’t get a smooth in sync motion where frame 1 and frame 2 load in parallel (same time) and not serial (one starts and then the other starts) Example count in decimal works fine but if you count in binary you want to move two or more fingers at same time versus individual fingers and I really don’t want to create a frame for every permutation, just -1 out the servos that I don’t want to move.  
#26   — Edited
Is it possible to use one of these to add wifi to an older ezb board? I have the version 3 which has a faulty bluetooth module.
#28  
Thanks for the reference. I'll see what it does. I figured it was worth a tinker before scrapping out the board.
PRO
Canada
PRO
Synthiam
#30  
If it's Arduino compatible, throw a firmware there, and she'll go.:D

But because it is esp32, you're still going to be limited by the i/o restrictions. The camera will use a number of the i/o ports, which will reduce the amount of available i/o to you. It'll also use the same internal timers and DMA, which will conflict with servo PWM generating timers.

ESP32 is an ESP32, even if you change the form factor. You will still experience the same limitations because, at heart, it's the same thing with a different breakout board.

When you look at any micro board that says ESP32, you'll see a shiny silver metal box. That is the same module that all ESP32 controllers use. They all have the same parts but with a different breakout board.
PRO
Synthiam
#31  
I was just thinking, if you need additional servo ports on an ESP32Cam, it has a UART. That means you can add an arduino or SCC-32 to the ESP32cam's uart. It'll require a minor firmware change but that's an easy fix. Pretty much you'd be sending all data from the TCP to the UART, and vice versa.
PRO
Canada
#32  
OK thanks I figured $20 was worth a try.  I have been meaning to order one of those Adafruit servo controllers and try it with the ESP.  For now I will just run a separate camera off another ESP32-CAM.   Good thing ARC supports multiple controllers.:)
PRO
Synthiam
#33  
I wouldn't bother with the adafruit servo controller because the communication is slow and a little wonky with i2c.

You'd get more out of an Arduino with a servo shield. Simply connect the Arduino's RX and TX to the TX and RX of the ESP32 cam.

Once you do that, the firmware change is minor on the esp32. All you need to do is a while () loop that passes TCP to the UART and vice versa. All of the EZB code is removed.