| ESP32 | port |
|---|---|
| SDA | 13 |
| SCL | 14 |
| TRIG | 12 |
| ECHO | 15 |
| WS2812 | 32 |
| Light ADC | 33 |
| IR Receiver | 0 |
| Buzzer | 2 |
| PCF8574 (I2C) 0x20 | GPIO |
|---|---|
| Track channel 1 | PO |
| Track channel 2 | P1 |
| Track channel 3 | P2 |
| PCA9685 (I2C) | GPIO |
|---|---|
| Servo1 | LED0 |
| Servo2 | LED1 |
| Servo3 | LED2 |
| Servo4 | LED3 |
| Servo5 | LED4 |
| Servo6 | LED5 |
| Servo7 | LED6 |
| Servo8 | LED7 |
| M2_IN2 | LED8 |
| M2_IN1 | LED9 |
| M4_IN1 | LED10 |
| M4_IN2 | LED11 |
| M3_IN1 | LED12 |
| M3_IN2 | LED13 |
| M1_IN2 | LED14 |
| M1_IN1 | LED15 |
FREQUENCY 1000 //Define the operating frequency of servo
SERVO_0 0 //Define PCA9685 channel to control servo 1
SERVO_1 1 //Define the PCA9685 channel to control servo 2
SERVO_MIDDLE_POINT 1500 //Define the middle position of the servo
MOTOR_SPEED_MIN -4095 //Define a minimum speed limit for wheels
MOTOR_SPEED_MAX 4095
| ESP32 Camera | GPIO |
|---|---|
| CSI_Y6 | 36 |
| CSI Y7 | 39 |
| CSI Y8 | 34 |
| CSI Y9 | 35 |
| CSI VYSNC | 25 |
| SIOD | 26 |
| SIOC | 27 |
| CSI Y2 | 4 |
| CSI Y3 | 5 |
| CSI Y4 | 18 |
| CSI Y5 | 19 |
| XCLK | 21 |
| PCLK | 22 |
| HREF | 23 |
PIN_BATTERY 32
LOW_VOLTAGE_VALUE 2100 //