#include "esp_camera.h" #include <WiFi.h> #include <WebServer.h> #define CAMERA_MODEL_AI_THINKER #include "camera_pins.h" // ================== WIFI CONFIG ================== const char* ssid = "Guest"; const char* password = "Guest@12345"; // Static IP configuration IPAddress local_IP(192, 168, 1, 20); IPAddress gateway(192, 168, 1, 1); IPAddress subnet(255, 255, 255, 0); // Flashlight Control #define FLASH_LED_PIN 4 // Car Control Pins #define IN1 12 #define IN2 13 #define IN3 14 #define IN4 15 // Web server for RC controls (port 82) WebServer control_server(82); // Renamed to avoid conflict // Car movement functions void stop_car() { // Renamed to avoid conflict digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); } void move_forward() { // Renamed to avoid conflict digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void move_backward() { // Renamed to avoid conflict digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } void turn_left() { // Renamed to avoid conflict digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); } void turn_right() { // Renamed to avoid conflict digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } // Toggle flash void handleFlash() { digitalWrite(FLASH_LED_PIN, !digitalRead(FLASH_LED_PIN)); control_server.send(200, "text/plain", digitalRead(FLASH_LED_PIN) ? "Flash ON" : "Flash OFF"); } void startCameraServer(); void setupLedFlash(int pin); void init_car() { Serial.begin(115200); Serial.setDebugOutput(true); Serial.println(); // Initialize motor and flash pins pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); pinMode(FLASH_LED_PIN, OUTPUT); digitalWrite(FLASH_LED_PIN, LOW); stop_car(); // Setup camera 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_sccb_sda = SIOD_GPIO_NUM; config.pin_sccb_scl = SIOC_GPIO_NUM; config.pin_pwdn = PWDN_GPIO_NUM; config.pin_reset = RESET_GPIO_NUM; config.xclk_freq_hz = 20000000; config.frame_size = FRAMESIZE_UXGA; config.pixel_format = PIXFORMAT_JPEG; config.grab_mode = CAMERA_GRAB_WHEN_EMPTY; config.fb_location = CAMERA_FB_IN_PSRAM; config.jpeg_quality = 12; config.fb_count = 1; // Optimize for PSRAM if (config.pixel_format == PIXFORMAT_JPEG) { if (psramFound()) { config.jpeg_quality = 10; config.fb_count = 2; config.grab_mode = CAMERA_GRAB_LATEST; } else { config.frame_size = FRAMESIZE_SVGA; config.fb_location = CAMERA_FB_IN_DRAM; } } else { config.frame_size = FRAMESIZE_240X240; #if CONFIG_IDF_TARGET_ESP32S3 config.fb_count = 2; #endif } // Camera init esp_err_t err = esp_camera_init(&config); if (err != ESP_OK) { Serial.printf("Camera init failed with error 0x%x", err); return; } sensor_t *s = esp_camera_sensor_get(); if (s->id.PID == OV3660_PID) { s->set_vflip(s, 1); s->set_brightness(s, 1); s->set_saturation(s, -2); } if (config.pixel_format == PIXFORMAT_JPEG) { s->set_framesize(s, FRAMESIZE_QVGA); } // Setup LED flash #if defined(LED_GPIO_NUM) setupLedFlash(LED_GPIO_NUM); #endif // Configure static IP if (!WiFi.config(local_IP, gateway, subnet)) { Serial.println("Static IP configuration failed"); } // Connect to WiFi WiFi.begin(ssid, password); WiFi.setSleep(false); WiFi.setTxPower(WIFI_POWER_19_5dBm); Serial.print("WiFi connecting"); while (WiFi.status() != WL_CONNECTED) { delay(500); Serial.print("."); } Serial.println(""); Serial.println("WiFi connected"); Serial.print("IP address: "); Serial.println(WiFi.localIP()); // Add custom RC car routes control_server.on("/", HTTP_GET, []() { control_server.send(200, "text/html", R"rawliteral(  <html>  <body>  <h1>ESP32-CAM RC Control</h1>  <img src="http://192.168.1.20:81/stream" width="320"><br><br>  <button onclick="fetch('/forward')">Forward</button>  <button onclick="fetch('/backward')">Backward</button>  <button onclick="fetch('/left')">Left</button>  <button onclick="fetch('/right')">Right</button>  <button onclick="fetch('/stop')">Stop</button>  <button onclick="fetch('/flash')">Toggle Flash</button>  <br><br>  <a href="http://192.168.1.20/capture">Capture Photo</a>  </body>  </html>  )rawliteral"); }); control_server.on("/forward", HTTP_GET, []() { move_forward(); control_server.send(200, "text/plain", "OK"); }); control_server.on("/backward", HTTP_GET, []() { move_backward(); control_server.send(200, "text/plain", "OK"); }); control_server.on("/left", HTTP_GET, []() { turn_left(); control_server.send(200, "text/plain", "OK"); }); control_server.on("/right", HTTP_GET, []() { turn_right(); control_server.send(200, "text/plain", "OK"); }); control_server.on("/stop", HTTP_GET, []() { stop_car(); control_server.send(200, "text/plain", "OK"); }); control_server.on("/flash", HTTP_GET, handleFlash); // Start custom server control_server.begin(); Serial.println("RC control server started on port 82"); // Start camera server startCameraServer(); Serial.print("Camera Ready! Use 'http://"); Serial.print(WiFi.localIP()); Serial.println(":82' to control RC bot"); Serial.println("Stream at 'http://192.168.1.20:81/stream'"); Serial.println("Capture at 'http://192.168.1.20/capture'"); } void run_car() { control_server.handleClient(); yield(); delay(10); } void setup() { init_car(); // Call your initialization code } void loop() { run_car(); // Keep handling requests }