Welcome

Thank you for choosing Freenove products!

About Battery

First, read the document About_Battery.pdf in the unzipped folder.

If you did not download the zip file, please download it and unzip it via link below:
https://github.com/Freenove/Freenove_4WD_Car_Kit_for_ESP32

Get Support and Offer Input

Freenove provides free and responsive product and technical support, including but not limited to:
 Product quality issues
 Product use and build issues
 Questions regarding the technology employed in our products for learning and education
 Your input and opinions are always welcome
 We also encourage your ideas and suggestions for new products and product improvements
For any of the above, you may send us an email to:

support@freenove.com
Safety and Precautions

Please follow the following safety precautions when using or storing this product:
 Keep this product out of the reach of children under 6 years old.
 This product should be used only when there is adult supervision present as young children lack necessary
judgment regarding safety and the consequences of product misuse.
 This product contains small parts and parts, which are sharp. This product contains electrically conductive
parts. Use caution with electrically conductive parts near or around power supplies, batteries and
powered (live) circuits.
 When the product is turned ON, activated or tested, some parts will move or rotate. To avoid injuries to
hands and fingers, keep them away from any moving parts!
 It is possible that an improperly connected or shorted circuit may cause overheating. Should this happen,
immediately disconnect the power supply or remove the batteries and do not touch anything until it
cools down! When everything is safe and cool, review the product tutorial to identify the cause.
 Only operate the product in accordance with the instructions and guidelines of this tutorial, otherwise
parts may be damaged or you could be injured.
 Store the product in a cool dry place and avoid exposing the product to direct sunlight.
 After use, always turn the power OFF and remove or unplug the batteries before storing.
About Freenove

Freenove provides open source electronic products and services worldwide.

Freenove is committed to assist customers in their education of robotics, programming and electronic circuits
so that they may transform their creative ideas into prototypes and new and innovative products. To this end,
our services include but are not limited to:

 Educational and Entertaining Project Kits for Robots, Smart Cars and Drones
 Educational Kits to Learn Robotic Software Systems for Arduino, Raspberry Pi, micro: bit and ESP32.
 Electronic Component Assortments, Electronic Modules and Specialized Tools
 Product Development and Customization Services

You can find more about Freenove and get our latest news and updates through our website:

http://www.freenove.com

Copyright

All the files, materials and instructional guides provided are released under Creative Commons Attribution-
NonCommercial-ShareAlike 3.0 Unported License. A copy of this license can be found in the folder containing
the Tutorial and software files associated with this product.

This means you can use these resource in your own derived works, in part or completely, but NOT for the
intent or purpose of commercial use.

Freenove brand and logo are copyright of Freenove Creative Technology Co., Ltd. and cannot be used without
written permission.

TM

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Contents

Welcome ............................................................................................................................................................................................... 1
Contents ................................................................................................................................................................................................ 1
List ........................................................................................................................................................................................................... 1
ESP32 Car Shield ....................................................................................................................................................................... 1
Machinery Parts ......................................................................................................................................................................... 2
Transmission Parts .................................................................................................................................................................... 2
Acrylic Parts ................................................................................................................................................................................. 3
Electronic Parts........................................................................................................................................................................... 4
Wires.............................................................................................................................................................................................. 5
Tools .............................................................................................................................................................................................. 5
Required but NOT Contained Parts .................................................................................................................................... 5
Preface ................................................................................................................................................................................................... 6
ESP32............................................................................................................................................................................................. 7
Pins of the Car ............................................................................................................................................................................ 8
Introduction of the Car.......................................................................................................................................................... 10
Chapter 0 Installation of Arduino IDE........................................................................................................................................ 11
Arduino Software ..................................................................................................................................................................... 11
Environment Configuration ................................................................................................................................................... 14
CH340.......................................................................................................................................................................................... 17
Uploading the First Code ..................................................................................................................................................... 27
Chapter 1 Assembling Smart Car................................................................................................................................................ 34
Assembling the Car ................................................................................................................................................................ 34
How to Play ............................................................................................................................................................................... 49
Chapter 2 Module test.................................................................................................................................................................... 52
2.1 Motor ................................................................................................................................................................................... 52
2.2 Servo .................................................................................................................................................................................... 57
2.3 Buzzer .................................................................................................................................................................................. 60
2.4 ADC Module ...................................................................................................................................................................... 63
2.5 LED Matrix .......................................................................................................................................................................... 67
2.6 WS2812 ............................................................................................................................................................................... 77
Chapter 3 Ultrasonic Obstacle Avoidance Car ....................................................................................................................... 81
3.1 Ultrasonic Module ........................................................................................................................................................... 81
3.2 Ultrasonic car ..................................................................................................................................................................... 89
Chapter 4 Light Tracing Car.......................................................................................................................................................... 91
4.1 Photoresistor ADC ........................................................................................................................................................... 91
4.2 Light Tracing Car .............................................................................................................................................................. 94
Chapter 5 Line Tracking Car ......................................................................................................................................................... 96
5.1 Line tracking sensor.......................................................................................................................................................... 96
5.2 Line Tracking Car.............................................................................................................................................................. 99
Chapter 6 Infrared Car ..................................................................................................................................................................102
6.1 Introduction of infrared reception function ..........................................................................................................102
 6.2 Infrared Car ......................................................................................................................................................................107
6.3 Multi-Functional Infrared Car ....................................................................................................................................111
Chapter 7 WiFi Car .........................................................................................................................................................................117
7.1 WiFi Sending and Receiving Data ............................................................................................................................117
7.2 WiFi Transmitting Images ............................................................................................................................................129
7.3 WiFi Video Car by APP .................................................................................................................................................137
7.4 WiFi Video Car by PC....................................................................................................................................................145
What's next? .....................................................................................................................................................................................161

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 █ www.freenove.com List 1

List
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ESP32 Car Shield

Top Bottom

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2 List www.freenove.com █

Machinery Parts

Transmission Parts

Servo package x2 Driven wheel x4

DC speed reduction motor x4 Motor bracket package x4

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 █ www.freenove.com List 3

Acrylic Parts

Note that there are two kinds of acrylic in the car, and they are very similar to each other, except for
a little difference in the head. But they are the same steps on installation.
Acrylic List

Acrylic List

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4 List www.freenove.com █

Electronic Parts

Line tracking module x1 Dot Matrix Module x1 HC-SR04 Ultrasonic Module x1

Camera connector x1

or
ESP32 x1 Infrared emitter x1

Note: Although there are two types of camera extensions, they are installed the same way, so the following
tutorial will focus on the first one.

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 █ www.freenove.com List 5

Wires

Jumper Wire F/F(4) x1

FPC Wire x1

XH-2.54-5Pin cable x1

Tools

Cross screwdriver (3mm) x1 Black tape x1 Cable Tidy x15cm

Required but NOT Contained Parts

2 x 3.7V 18650 lithium rechargeable batteries with continuous discharge current >3A.
It is easier to find proper battery on eBay than Amazon. Search “18650 high drain” on eBay.

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6 Preface www.freenove.com █

Preface
Welcome to use Freenove 4WD Car Kit for ESP32. Following this tutorial, you can make a very cool car with
many functions.
Based on the ESP32 development board, a popular IoT control board, this kit uses the very popular Arduino
IDE for programming, so you can share and exchange your experience and design ideas with enthusiasts all
over the world. The parts in the kit include all electronic components, modules, and mechanical components
required for making the vcar. They are all individually packaged. There are detailed assembly and debugging
instructions in this book. If you encounter any problems, please feel free to contact us for fast and free
technical support.

support@freenove.com
This car does not require a high threshold for users. Even if you know little professional knowledge, you can
make your own smart car easily with the guidance of the tutorial. If you’re really interested in ESP32 and
hope to learn how to program and build circuits, please visit our website: www.freenove.com or contact us

to buy our kit designed for beginners: Freenove Ultimate Kit for ESP32.

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 █ www.freenove.com Preface 7

ESP32

ESP32-WROVER has launched a total of two antenna packages, PCB on-board antenna and IPEX antenna
respectively. The PCB on-board antenna is an integrated antenna in the chip module itself, so it is convenient
to carry and design. The IPEX antenna is a metal antenna derived from the integrated antenna of the chip
module itself, which is used to enhance the signal of the module.
PCB on-board antenna IPEX antenna

In this tutorial, the ESP32-WROVER is designed based on PCB on-board antenna packaged ESP32-WROVER
module. All projects in this tutorial are based on this board.

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Pins of the Car

If you don’t know the what each GPIO corresponds to, you can refer to the following table.
The functions of the pins are allocated as follows:
Pins of ESP32 Funtions Description
GPIO36 CSI_Y6
GPIO39 CSI_Y7
GPIO34 CSI_Y8
GPIO35 CSI_Y9
GPIO25 CSI_VYSNC
GPIO26 SIOD
GPIO27 SIOC
Camera interface
GPIO4 CSI_Y2
GPIO5 CSI_Y3
GPIO18 CSI_Y4
GPIO19 CSI_Y5
GPIO21 XCLK
GPIO22 PCLK
GPIO23 HREF
GPIO13 SDA
I2C port
GPIO14 SCL
GPIO32 Battery detection / WS2812 A6
GPIO33 Search light ADC port A7
GPIO12 Trig
Ultrasonic module interface
GPIO15 Echo
GPIO2 Buzzer port Buzzer
GPIO0 Infrared receiver port IR
GPIO1 TX
Serial port
GPIO3 RX

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 █ www.freenove.com Preface 9

The hardware interfaces of ESP32 are distributed as follows:

Compare the left and right images. We've boxed off the resources on the ESP32 in different colors to facilitate
your understanding of the ESP32.
Box color Corresponding resources introduction
GPIO pin

LED indicator

Camera interface

Reset button, Boot mode selection button

USB port

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Introduction of the Car

The function diagram of the ESP32 car is as follows:

WS2812 WS2812

Photoresistor
Photoresistor

M3 Motor
M1 Motor

Ultrasonic
Line Tracking
Sensor
Module

Infrared Sensor
IIC

Power switch

Servo Motor
Buzzer

ESP32
M2 Motor

M4 Motor
Battery
Holder

WS2812 WS2812

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 11

Chapter 0 Installation of Arduino IDE

Arduino Software

Arduino Software (IDE) is used to write and upload the code for Arduino Board.
First, install Arduino Software (IDE): visit https://www.arduino.cc, click "Download" to enter the download page.

Select and download corresponding installer according to your operating system. If you are a Windows user,
please select the "Windows Installer" to download and install the driver correctly.

After the download completes, run the installer. For Windows users, there may pop up an installation dialog
during the installation. When it popes up, please allow the installation.

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After installation is completed, an Arduino Software shortcut will be generated in the desktop. Run the Arduino
Software.

The interface of Arduino Software is as follows:

Menus

Toolbar

Text editor

Message area

Console

Configured board
and serial port

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 13

Programs written with Arduino Software (IDE) are called sketches. These sketches are written in the text editor
and saved with the file extension.ino. The editor has features for cutting/pasting and searching/replacing text.
The message area gives feedback while saving and exporting and also displays errors. The console displays
text output by the Arduino Software (IDE), including complete error messages and other information. The
bottom right-hand corner of the window displays the configured board and serial port. The toolbar buttons
allow you to verify and upload programs, create, open, and save sketches, and open the serial monitor.

Verify Check your code for compile errors .

Upload Compile your code and upload them to the configured board.
New Create a new sketch.
Open Present a menu of all the sketches in your sketchbook. Clicking one
will open it within the current window and overwrite its content.
Save Save your sketch.
Serial Monitor Open the serial monitor.

Additional commands are found within the five menus: File, Edit, Sketch, Tools, Help. The menus are context
sensitive, which means only those items relevant to the work currently being carried out are available.

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Environment Configuration

First, open the software platform arduino, and then click File in Menus and select Preferences.

Second, click on the symbol behind "Additional Boards Manager URLs"

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 15

Third, fill in https://dl.espressif.com/dl/package_esp32_index.json in the new window, click OK, and click OK
on the Preferences window again.

Fourth, click Tools in Menus, select Board:"ArduinoUno", and then select "Boards Manager".

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Fifth, input "esp32" in the window below, and press Enter. click "Install" to install.

When finishing installation, click Tools in the Menus again and select Board: "Arduino Uno", and then you
can see information of ESP32-WROVER. click "ESP32-WROVER" so that the ESP32 programming
development environment is configured.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 17

CH340

ESP32 uses CH340 to download codes. So before using it, we need to install CH340 driver in our computers.

Windows

Check whether CH340 has been installed

1. Connect your computer and ESP32 with a USB cable.

2. Turn to the main interface of your computer, select “This PC” and right-click to select “Manage”.

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3. Click “Device Manager”. If your computer has installed CH340, you can see“USB-SERIAL CH340 (COMx)”.
And you can click here to move to the next step.

CH340 Port

Installing CH340
1. First, download CH340 driver, click http://www.wch-ic.com/search?q=CH340&t=downloads to download
the appropriate one based on your operating system.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 19

Windows

Linux

MAC

If you would not like to download the installation package, you can open
“Freenove_4WD_Car_Kit_for_ESP32/CH340”, we have prepared the installation package.

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2. Open the folder “Freenove_4WD_Car_Kit_for_ESP32/CH340/Windows/”

3. Double click “CH341SER.EXE”.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 21

4. Click “INSTALL” and wait for the installation to complete.

5. Install successfully. Close all interfaces.

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6. When ESP32 is connected to computer, select “This PC”, right-click to select “Manage” and click “Device
Manager” in the newly pop-up dialog box, and you can see the following interface.

7. So far, CH340 has been installed successfully. Close all dialog boxes.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 23

MAC

First, download CH340 driver, click http://www.wch-ic.com/search?q=CH340&t=downloads to download the

appropriate one based on your operating system.

Windows

Linux

MAC

If you would not like to download the installation package, you can open
“Freenove_4WD_Car_Kit_for_ESP32/CH340”, we have prepared the installation package.
Second, open the folder “Freenove_4WD_Car_Kit_for_ESP32/CH340/MAC/”

Run it.

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Third, click Continue.

Fourth, click Install.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 25

Then, waiting Finsh.

Finally, restart your PC.

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If you still have not installed the CH340 by following the steps above, you can view readme.pdf to install it.

ReadMe

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 27

Uploading the First Code

Here we use “00.0_Servo_90” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” as an example.

The servo on the car is controlled by PCA9685. Therefore, it is necessary to add the related libararies to
Arduino IDE.

How to Add libraries

We prefer to use method 2 to install libs.

Method 1
Open Arduino IDE, click Sketch on Menu bar, move your mouse to Include Library and then click Manage
Libraries.

There is an input field on the right top of the pop-up window. Enter PCA9685 there and click to install the
library boxed in the following picture, click to

Wait for the installation to finish.

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Method 2
Open Arduino IDE, click Sketch on Menu bar, move your mouse to Include Library and then click Add .ZIP
library.

On the pop-up window, select PCA9685.zip of Libraries folder in

“Freenove_4WD_Car_Kit_for_ESP32\Sketches”, and then click Open.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 29

How to compile and upload code

Step 1. Connect your computer and ESP32 with a USB cable.

Step 2. Open “00.0_Servo_90” folder in “Freenove_4WD_Car_Kit_for_ESP32\Sketches”, double-click

“00.0_Servo_90.ino”. The code is to rotate the two servo motors to 90°.

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Step 3. Select development board.

Click Tolls on Menu bar, move your mouse to Board: “Arduino Uno”, select ESP32 Arduino and then select
ESP32 Wrover Module.

Step 4. Select serial port.

Cilick Tools on Menu bar, move your mouse to Port and select COMx on your computer. The value of COMx
varies in different computers, but it won’t affect the download function of ESP32, as long as you select the
correct one.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 31

Click “Upload Using Programmer” and the program will be downloaded to ESP32.

When you see the following content, it indicates that the program has been uploaded to ESP32.

Note: For macOS users, if the uploading fails, please set the baud rate to 115200 before clicking
“Upload Using Programmer”.

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The car needs to be installed with batteries. When installing them, please following the silk print on the
board.

anode

cathode

anode

cathode

Plug the ESP32 to the car shield. Pay attention to the orientation of ESP32.

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 █ www.freenove.com Chapter 0 Installation of Arduino IDE 33

Make sure ESP32 is plugged into the shield correctly. Take out two servo motors and plug them into the car
shield. Please note the color of the wires Do NOT connect them wrongly.

Turn ON the switch and the two servos will keep at 90°.

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34 Chapter 1 Assembling Smart Car www.freenove.com █

Chapter 1 Assembling Smart Car

If you have any concerns, please feel free to contact us via support@freenove.com

Assembling the Car

Installing Motor and Wheels

There is a special fixed bracket to fix motor, which contains an aluminum bracket, two M3*30 screws, two
M3*8 screws, and two M3 nuts, as shown below:

Installation steps：
Step 1 Install servos to fix the bracket on the shield.

Bracket

M3*8 screws M3*8 screws

Put the bottom of the car up, use two M3*8 screws to fix the bracket on the shield.
Step 2 Install the motor to the bracket.

M3*30 screws

M3 nut

Motor

Use two M3*30 screws and two M3 nuts to fix the motor on the bracket

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█ www.freenove.com Chapter 1 Assembling Smart Car 35

Step 3 Connect the motor wire to the corresponding terminal.

M3 M4

M1
M2

Pass the motor wire through the wire hole of the shield and connect it to the motor interface on the top.
Step 4 Install the wheel to the motor.

Note: The hole is not circle. Please align the hole and fix the wheel to the motor.

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36 Chapter 1 Assembling Smart Car www.freenove.com █

The installation of the four wheels is similar. Repeat the above installation steps to complete the installation

Installing ESP32

Step: Plug ESP32-Wrover-Dev in the shield.

Pay attention to the

orientation of ESP32.

Please pay attention to the orientation of ESP32. Do NOT reverse it, otherwise it may burn the ESP32.

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 █ www.freenove.com Chapter 1 Assembling Smart Car 37

Installing Servo

Servo package: one servo, three rocker arms, two M2*8 screws and one M2*4 screw.

Step 1 Fix servo1 to the shield.

M2*16 screw
M2*16 screw

M 2nut
M2 nut

Use two M2*16 screws and two M2 nuts to fix the servo1 on the shield. Pay attention to the servo’s direction.
Step 2 Fix two acrylics of the Pan-tilt together.

M2 nut

M2*16 screw

Use a M2*16 screw and a M2 nut to fix two acrylics of the Pan-tilt together.

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38 Chapter 1 Assembling Smart Car www.freenove.com █

Step 3 Fix the Pan-tilt to servo1.

M2*4 screw
M2.5*8 screw

M2.5*8 screw

Servo’s rocker arm

Use two M2.5*8 screws to fix the pan-tilt to rocker arm and a M2*4 to fix the rocker arm to servor1.
Note: Before fixing the rocker arm to servo1, please adjust the servo at 90°.You can refer to here.
Step 4 Fix servo2 to Pan-tilt.

M2*16 screw

M2 nut
M2*16 screw

M2 nut

Use two M2*16 screws and two M2 nuts to fix servo2 to Pan-tilt.

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 █ www.freenove.com Chapter 1 Assembling Smart Car 39

Step 5 Wiring of the servor motor

Connect servo1 and servo 2 to Servo1 and

Servo2 interfaces on the shield respectively.
Pay attention to the color of the wires. Do not
connect them wrongly.

Assembling LED Matrix Pan-tilt.

Acrylic parts of the Pan-tilt are as follows：

Installation steps: (Note: Do not disorder Servo1 and Servo2 during the installation.)

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40 Chapter 1 Assembling Smart Car www.freenove.com █

Step 1
Remove the camera from the ESP32.

Do not use force to

disassemble the camera

Pull up the black

piece vertically

There are 2 types of head acrylics. One of these is shown here, and the other installation steps are the
same.
Note: The connector and the ESP32 are flip-top type, please do not install it violently.

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█ www.freenove.com Chapter 1 Assembling Smart Car 41

Step 2

M1.4*6

Use four M1.4*6 screws to fix the camera connector to the Pan-tilt.
Step 3

M1.4*6

Use four M1.4*6 screws to fix the LED matrix to the Pan-tilt.

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Step 4

M3 nut

Between two acrylic plates, use two M3 nuts as washers.

Step 4

M2 nut
M2*16

Use a M2*16 screw and a M2 nut to fix the two acrylics.

Step 5

M2 nut

M2*16

Use a M2*16 screw and a M2 nut to fix the two acrylic parts.

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█ www.freenove.com Chapter 1 Assembling Smart Car 43

Step 6

M2.5*8

Rocker arm
【am

Use two M2.5*8 screws to fix the rocker arm to acrylic part.
Step 7

M2*4

Use two M2*4 screws to fix the ultrasonic pan-tilt to servor2.

Note: Before fixing the rocker arm to servo2, please adjust the servo at 90°. You can refer to here.
After finished

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44 Chapter 1 Assembling Smart Car www.freenove.com █

Installing Line Tracking Module

Step 1 Installing line tracking module

M3*6 screw
M3*6 screw

M3*28 standoff
M3*28 standoff

M3*6 screw
M3*6 screw

First, use two M3*6 screws to fix two M3*28 standoff to the bottom of the car, and then use two M3*6
screws to fix the line tracking module to standoff.
Step 2 Connect the cable to the tracking module

Use cable to connect the two connectors marked above.

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█ www.freenove.com Chapter 1 Assembling Smart Car 45

Wiring of Head

Step 1

Turn up the FPC connector.

Step 2

√ ×
Make sure that the blue side is upwards and the metal side is downwards. Do NOT connect it
reversely.
Step 3

Make sure that the blue side is upwards and the metal side is downwards. Do NOT connect it
reversely.
Please make sure that FPC Wire can pass through the acrylic sheet. (Refer to the “Installing the
Acrylic Parts-Step 3”)

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Step 4

Module GND SCL SDA VCC

GND SCL SDA VCC
Car
GND 14 13 VCC

According to the prompts on the

module and the car, use the 4P
cable to connect the LED matrix
module and the car. Please note
that the order of the lines cannot be
connected wrongly.

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 █ www.freenove.com Chapter 1 Assembling Smart Car 47

Installing the Acrylic Parts

Step 1

M3*6

M3*6

M3*6

M3*6

Pass four M3*6 screws upward from the bottom of the shield.
Step 2

M3*28

M3*28

M3*28

M3*28

Fix 4 M3*28 standoffs to M3*6 screws.

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48 Chapter 1 Assembling Smart Car www.freenove.com █

Step 3
M3*6

M3*6

Thread the FPC

cable down here
M3*6

M3*6

Align the acrylic part with the mounting hole of the standoffs, and use four M3*6 screws to fix the acrylic
on the standoffs.
Please make sure that FPC Wire can pass through the acrylic sheet.

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 █ www.freenove.com Chapter 1 Assembling Smart Car 49

How to Play

Add libraries

Open the Arduino IDE, Click Sketch on the menu bar, select Include Library, click Add .ZIP Library...

In the new pop-up window, select Freenove_4WD_Car_Kit_for_ESP32\Libraries, select every Library, click
Open, and repeat this process several times until you have installed all six Libraries into the Arduino.

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IR remote control

Step 1 Upload Code

Connect your computer and ESP32 with a USB cable.

Open the folder Freenove_4WD_Car_Kit_for_ESP32\Sketches\05.3_Multi_Functional_Car.

Double-click to open the 05.3_Multi_Functional_Car.ino.
Click Upload.

Upload

In this tutorial, if you find that the car is moving in the opposite direction as expected, such as backward
when it should be moving forward. The car turned right when it should have turned left. Then you can
modify the file which named “Freenove_4WD_Car_For_ESP32.h” to change the value as commented.

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 █ www.freenove.com Chapter 1 Assembling Smart Car 51

Step 2 Control the Car

After the code is successfully uploaded, turn on the power of the car and use the infrared remote control to
control the car and other functions. The corresponding keys and their functions are shown in the following
table:

Pull out

ICON KEY Value Function ICON KEY Value Function

FF02FD Move forward FF22DD Control the buzzer

FFE01F Turn left FF18E7 Random emoticons

FF906F Turn light FF38C7 Turn off emoticons

FF9867 Move back FF42BD Random display of WS2812

FFA857 Stop the car FF4AB5 Turn off WS2812 display

FF6897 Control servo 1 turn left FFB04F Control servo 2 turn left

FF30CF Control servo 1 turn right FF7A85 Control servo 2 turn right

FF10EF Control servo 1 turn to 90° FF5AA5 Control servo 2 turn to 90°

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Chapter 2 Module test

If you have any concerns, please feel free to contact us via support@freenove.com

2.1 Motor

Motor

A motor is a device that converts electrical energy into mechanical energy. Motor consists of two parts: stator
and rotor. When motor works, the stationary part is stator, and the rotating part is rotor. Stator is usually the
outer case of motor, and it has terminals to connect to the power. Rotor is usually the shaft of motor, and can
drive other mechanical devices to run. Diagram below is a small DC motor with two pins.

When a motor gets connected to the power supply, it will rotate in one direction. Reverse the polarity of
power supply, then the motor rotates in opposite direction.

+ - - +

PWM

PWM, Pulse Width Modulation, uses digital pins to send certain frequencies of square waves, that is, the
output of high levels and low levels, which alternately last for a while. The total time for each set of high levels
and low levels is generally fixed, which is called the period (the reciprocal of the period is frequency). The time
of high level outputs are generally called “pulse width”, and the duty cycle is the percentage of the ratio of
pulse duration, or pulse width (PW) to the total period (T) of the waveform.
The longer the output of high levels last, the larger the duty cycle and the higher the corresponding voltage
in analog signal will be. The following figures show how the analogs signal voltage vary between 0V-5V
(high level is 5V) corresponding to the pulse width 0%-100%:

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The longer the PWM duty cycle is, the higher the output power will be. Now that we understand this
relationship, we can use PWM to control the brightness of an LED or the speed of DC motor and so on.

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Schematic

For this tutorial, the driver chip of the car is controlled by the 8-15th output channels of the IIC chip PCA9685.
When driving the motor, it is necessary to initialize the PCA9685 chip first, and then set the PWM value of the
corresponding output channel to make its output voltage drive the motor.

As can be seen from the above figure, if we want to control the motor M1, we need to set the 14th and 15th
channels of the PCA9685.
Similarly, to control the motor M2, we need to set the 8th and 9th channels of the PCA9685, to control the
motor M3, we need to set the 12th and 13th channels of the PCA9685, and to control the motor M4, we need
to set the 10th and 11th channels of the PCA9685.
Mx_IN1 Mx_IN2 Rotating direction of
the wheels
1 0 Forward
0 1 backward

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Sketch

Next we will download the code to ESP32 to test the motor. Open “01.1_Car_Move_and_Turn” folder in
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double-click “01.1_Car_Move_and_Turn.ino”.

In this tutorial, if you find that the car is moving in the opposite direction as expected, such as backward
when it should be moving forward. The car turned right when it should have turned left. Then you can
modify the file which named “Freenove_4WD_Car_For_ESP32.h” to change the value as commented.

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup()
4 {
5 PCA9685_Setup(); //Initialize PCA9685 to control Motor
6 }
7
8 void loop()
9 {
10 Motor_Move(2000, 2000, 2000, 2000); //go forward
11 delay(1000);
12 Motor_Move(0, 0, 0, 0); //stop
13 delay(1000);
14 Motor_Move(-2000, -2000, -2000, -2000); //go back
15 delay(1000);
16 Motor_Move(0, 0, 0, 0); //stop
17 delay(1000);
18
19 Motor_Move(-2000, -2000, 2000, 2000); //turn left
20 delay(1000);

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21 Motor_Move(0, 0, 0, 0); //stop

22 delay(1000);
23 Motor_Move(2000, 2000, -2000, -2000); //turn right
24 delay(1000);
25 Motor_Move(0, 0, 0, 0); //stop
26 delay(1000);
27 }
After downloading the code, please put the car to a relatively open area. Turn on the power switch and you
can see the car go forward, backward, turn left and turn right repeatedly.
Code Explanation
If you are not familiar with Arduino IDE, you can visit https://www.arduino.cc/reference/en/ to learn more.
Add the header file of the car. Each time before controlling the car, please add header file first.
1 #include "Freenove_4WD_Car_For_ESP32.h"
Motor_Setup function, initialize the driver chip of the motor.
5 PCA9685_Setup(); //Initialize PCA9685 to control Motor
Loop functopn can be used repeatedly in the program. Here we call Motor_Move function to control the car
to move forward, backward, turn left and turn right repeatedly.
8 void loop()
9 {
10 Motor_Move(2000, 2000, 2000, 2000); //go forward
11 delay(1000);
12 Motor_Move(0, 0, 0, 0); //stop
13 delay(1000);
14 Motor_Move(-2000, -2000, -2000, -2000); //go back
15 delay(1000);
16 Motor_Move(0, 0, 0, 0); //stop
17 delay(1000);
18
19 Motor_Move(-2000, -2000, 2000, 2000); //turn left
20 delay(1000);
21 Motor_Move(0, 0, 0, 0); //stop
22 delay(1000);
23 Motor_Move(2000, 2000, -2000, -2000); //turn right
24 delay(1000);
25 Motor_Move(0, 0, 0, 0); //stop
26 delay(1000);
27 }
Motor_Move function is to control the car. The four parameters m1_speed, m2_speed, m3_speed, m4_speed
range from -4095 to 4095. When the value is positive number, the motors move forward. Otherwise, they
move backwards. m1_speed, m2_speed represent the two motors on the left and m3_speed, m4_speed
embody those on the right.
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed);
If you are not familiar with the position of the motors, you can click here to check the previous content.

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 █ www.freenove.com Chapter 2 Module test 57

2.2 Servo

Servo

Servo is a compact package which consists of a DC motor, a set of reduction gears to provide torque, a sensor
and control circuit board. Most servos only have a 180-degree range of motion via their “horn”. Servos can
output higher torque than a simple DC motor alone and they are widely used to control motion in model cars,
model airplanes, robots, etc. Servos have three wire leads which usually terminate to a male or female 3-pin
plug. Two leads are for electric power: positive (2-VCC, Red wire), negative (3-GND, Brown wire), and the
signal line (1-Signal, Orange wire), as represented in the Servo provided in your Kit.

We will use a 50Hz PWM signal with a duty cycle in a certain range to drive the Servo. The lasting time of
0.5ms-2.5ms of PWM single cycle high level corresponds to the servo angle 0 degrees - 180 degree linearly.
Part of the corresponding values are as follows:
High level time Servo angle
0.5ms 0 degree
1ms 45 degree
1.5ms 0 degree
2ms 45 degree
2.5ms 180 degree
When you change the servo signal value, the servo will rotate to the designated angle.

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Schematic

For this tutorial, the driver chip of the servo is controlled by the 0-7th output channels of the IIC chip PCA9685.
When driving the servos, it is necessary to initialize the PCA9685 chip first, and then set the PWM value of the
corresponding output channel to make its output voltage drive the servo.

As can be seen from the above figure, channels 0-7 of PCA9685 are used to control servos.

Sketch

Download the code to ESP32 to make servo sweep back and forth.
Open “01.2_Servo” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double-click “01.2_Servo.ino”.

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Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup()
4 {
5 PCA9685_Setup(); //Initialize PCA9685 to control Servo
6 Servo_1_Angle(90); //Set servo 1 Angle
7 Servo_2_Angle(90); //Set servo 2 Angle
8 delay(1000);
9 }
10
11 void loop()
12 {
13 // Servo 1 motion path; 90°- 0°- 180°- 90°
14 Servo_Sweep(1, 90, 0);
15 Servo_Sweep(1, 0, 180);
16 Servo_Sweep(1, 180, 90);
17
18 // Servo 2 motion path; 90°- 150°- 90°
19 Servo_Sweep(2, 90, 150);
20 Servo_Sweep(2, 150, 90);
21 }
Code Explanation
Add header file of servos. Each time before controlling servos, please add header file first.
1 #include "Freenove_4WD_Car_For_ESP32.h"
Initialize the servo driven chip.
5 PCA9685_Setup(); //Initialize PCA9685 to control Servo
Set the angle of the two servos to 90°.
6 Servo_1_Angle(90);
7 Servo_2_Angle(90);
Sweep function of the servos. Servo_id stands for the servo number, ranging from 1 to 2. Angle_start
represents the starting position of the servo when sweeping while angle_end is the ending position. Note: the
sweeping range of servo1 is 0-180°, and that of servo2 is 90-150°.
void Servo_Sweep(int servo_id, int angle_start, int angle_end);

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2.3 Buzzer

Buzzer

Buzzer is a sounding component, which is widely used in electronic devices such as calculator, electronic
warning clock and alarm. Buzzer has two types: active and passive. Active buzzer has oscillator inside, which
will sound as long as it is supplied with power. Passive buzzer requires external oscillator signal (generally use
PWM with different frequency) to make a sound.

Active buzzer Passive buzzer

Active buzzer is easy to use. Generally, it can only make a specific frequency of sound. Passive buzzer
requires an external circuit to make a sound, but it can be controlled to make a sound with different
frequency. The resonant frequency of the passive buzzer is 2kHz, which means the passive buzzer is loudest
when its resonant frequency is 2kHz.

How to identify active and passive buzzer

1. Usually, there is a label on the surface of active buzzer covering the vocal hole, but this is not an absolute
judgment method.
2. Active buzzers are more complex than passive buzzers in their manufacture. There are many circuits and
crystal oscillator elements inside active buzzers; all of this is usually protected with a waterproof coating
(and a housing) exposing only its pins from the underside. On the other hand, passive buzzers do not
have protective coatings on their underside. From the pin holes viewing of a passive buzzer, you can see
the circuit board, coils, and a permanent magnet (all or any combination of these components depending
on the model.
Active buzzer Passive buzzer

The buzzer used in this car is a passive buzzer that can make sounds with different frequence.

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Schematic

As we can see, the buzzer is controlled by GPIO2 of ESP32. When the buzzer receives PWM signal, NPN will
be activated to make the buzzer sound. When the buzzer receives no signal, it will be controlled at low level
by R2 and NPN won’t be activated, then the buzzer won’t make any sounds.

Sketch

In this section, we will test the buzzer to make it sound like an alarm.
Open “01.3_Buzzer” folder in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches”, and then double-click
“01.3_Buzzer.ino”.

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Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup() {
4 Buzzer_Setup(); //Buzzer initialization function
5 Buzzer_Alert(4, 3);//Control the buzzer to sound
6 }
7
8 void loop() {
9 delay(1000);
10 }
After the program is downloaded to ESP32, the buzzer emits 4 short beeps, repeating for 3 times.

Each time when the

switch is turned ON, the
buzzer emits sounds.

Code Explanation
Configure the PWM of ESP32 to associate it with GPIO2 pin to control the buzzer to make sounds.
void Buzzer_Setup(void); //Buzzer initialization
Control the buzzer to sound regularly. beat represents the number of times the buzzer sounds in each
sounding cycle. Rebeat represents how many cycles the buzzer sounds.
void Buzzer_Alert(int beat, int rebeat);//Buzzer alarm function

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2.4 ADC Module

ADC

ADC is an electronic integrated circuit used to convert analog signals such as voltages to digital or binary
form consisting of 1s and 0s. The range of our ADC on ESP32 is 12 bits, that means the resolution is
2^12=4096, and it represents a range (at 3.3V) will be divided equally to 4096 parts. The rage of analog values
corresponds to ADC values. So the more bits the ADC has, the denser the partition of analog will be and the
greater the precision of the resulting conversion.

Subsection 1: the analog in rang of 0V---3.3/4095 V corresponds to digital 0;

Subsection 2: the analog in rang of 3.3/4095 V---2*3.3 /4095V corresponds to digital 1;
The following analog will be divided accordingly.
The conversion formula is as follows:

Analog Voltage
𝐴𝐷𝐶 𝑉𝑎𝑙𝑢𝑒 = ∗ 4095
3.3
Serial Communication

Serial communication uses one data cable to transfer data one bit by another in turn. Parallel communication
means that the data is transmitted simultaneously on multiple cables. Serial communication takes only a few
cables to exchange information between systems, which is especially suitable for computers to computers,
long distance communication between computers and peripherals. Parallel communication is faster, but it
requires more cables and higher cost, so it is not appropriate for long distance communication.
Parallel communication Serial communication

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Serial communication generally refers to the Universal Asynchronous Receiver/Transmitter (UART), which is
commonly used in electronic circuit communication. It has two communication lines, one is responsible for
sending data (TX line) and the other for receiving data (RX line). The serial communication connections of two
devices use is as follows:
Device 1(Your computer) Device 2(control board)
RX RX
TX Usb cable TX

For serial communication, the baud rate in both sides must be the same. The baud rates commonly used
are 9600 and 115200.
Computer identifies serial devices connected to your computer as COMx. We can use the Serial Monitor
window of Arduino Software to communicate with Freenove control board.

Schematic

As we can see, the car reads the voltage of the batteries through GPIO32 of ESP32. Because the battery
voltage is not read frequently, this GPIO is also used to control the WS2812 LED.

The voltage acquisition range of GPIO32 on ESP32 is 0-3.3V, while the car is powered by two 18650 lithium
batteries, whose voltage is 8.4V when they are fully charged, which exceeds the acquisition range of ESP32.
Therefore, after passing through the voltage divider circuit composed of R3 and R4, the voltage at A0/WS2812
will be about 1/4 of the battery voltage, 8.4/4=2.1V, which is within the voltage collection range of GPIO32.

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Sketch

In this section, we will use GPIO32 of ESP32 to read the voltage value of the batteries and print it on serial
monitor. Open “01.4_Battery_level” folder in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and then
double-click “01.4_Battery_level.ino”.

Code
1 #include "Freenove_4WD_Car_For_ESP32.h"
2
3 void setup() {
4 Serial.begin(115200); //Set the Serial Baud rate
5 }
6 void loop() {
7 Serial.print("Battery ADC : ");
8 Serial.println(Get_Battery_Voltage_ADC());//Gets the battery ADC value
9 Serial.print("Battery Voltage : ");
10 Serial.print(Get_Battery_Voltage()); //Get the battery voltage value
11 Serial.println("V");
12 delay(300);
13 }
Code Explanation
Activate the serial port and set the baud rate to 115200.
4 Serial.begin(115200); //Set the Serial Baud rate
Get ADC sampling value of GPIO32 and return it. The ADC has a range of 0-4095. The voltage range collected
is 0-3.3V.
int Get_Battery_Voltage_ADC(void); //Gets the battery ADC value
Calculate the voltage of batteris and return it.
float Get_Battery_Voltage(void); //Get the battery voltage value
The default battery voltage coefficient is 3. Users can modify it by calling this function.

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void Set_Battery_Coefficient(float coefficient);//Set the partial pressure coefficient

Click “Upload” to upload the code to ESP32. After uploading successfully, click Serial Monitor

Upload Serial Monitor

Set baud rate to 115200.

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2.5 LED Matrix

LED Matrix
A LED matrix is a rectangular display module that consists of a uniform grid of LEDs. The following is an 8X8
monochrome LED matrix containing 64 LEDs (8 rows by 8 columns).

In order to facilitate the operation and reduce the number of ports required to drive this component, the
positive poles of the LEDs in each row and negative poles of the LEDs in each column are respectively
connected together inside the LED matrix module, which is called a common anode. There is another
arrangement type. Negative poles of the LEDs in each row and the positive poles of the LEDs in each column
are respectively connected together, which is called a common cathode.
Connection mode of common anode Connection mode of common cathode

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Schematic

For this tutorial, the LED matrix module is individual and it is driven by IIC chip.

A0 is connected.

The LED matrix is common anode. As we can see from the schematic above, the anode of LED matrix is
connected to ROWx of HT16K33 chip, and the cathode is connected to COMx. The address of HT16K33 chip
is (0x70+[A2:A0]), and the default address of LED matrix is 0x71. If you want to change the address, you can
use a knife to cut the connecting line in the middle of A0, or connect A1/A2.
Front of LED Matrix Back of LED Matrix

Modify address

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We divide the LED matrix into two sides and display “+” on the left and “o” on the right. As shown below,
yellow stands for lit LED while other colors reprensent the OFF LED.

1
2 1 1 1 1
3 1 1 1 1
4 1 1 1 1 1 1 1 1
5 1 1 1 1 1 1 1 1
6 1 1 1 1
7 1 1 1 1
8
Below, the table on the left corresponds to the "+" above, and the table on the right corresponds to the "o"
above.
Row Binary Hexadecimal Row Binary Hexadecimal
1 0000 0000 0x00 1 0000 0000 0x00
2 0001 1000 0x18 2 0001 1000 0x18
3 0001 1000 0x18 3 0010 0100 0x24
4 0111 1110 0x7e 4 0100 0010 0x42
5 0111 1110 0x7e 5 0100 0010 0x42
6 0001 1000 0x18 6 0010 0100 0x24
7 0001 1000 0x18 7 0001 1000 0x18
8 0000 0000 0x00 8 0000 0000 0x00

Sketch

The LED matrix is controlled by HT16K33 chip. Therefore, before opening the program, we need to install
Freenove_VK16K33_Lib_For_ESP32 library in advance.
Install Freenove_VK16K33_Lib_For_ESP32 Library
Click Sketch and select Add .ZIP Library in Include.

Select “Freenove_VK16K33_Lib_For_ESP32.zip” in the folder Libraries of the folder

“Freenove_4WD_Car_Kit_for_ESP32”.

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Install Processing
In this tutorial, we use Processing to build a simple Led Matrix platform.
If you have not installed Processing, you can download it by clicking https://processing.org/download/. You
can choose an appropriate version to download according to your PC system.

Unzip the downloaded file to your computer. Click "processing.exe" as the figure below to run this software.

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In the interface of Processing, click Sketch on Menu bar, select “Import Library...”and then click “Add Library...”.

Enter “ControlP5” in the input field of the pop-up window. Click the searching result and then click “install”

Enter ControlP5

Click the searching result.

Install

When the installation finishes, restart Processing.

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Open the folder ESP32_Led_Matrix in 01.5_Matrix of the “Freenove_4WD_Car_Kit_for_ESP32\Sketches”.

Here we take Windows as an example. Click to open ESP32_Led_Matrix.pde.

Click “Run”

Run

There are 20 pages from A to T. Select Page A.

Select A

You can design your own pattern by clicking on the squares.

Click

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Next select Page B and click PREVIOUS. PREVIOUS will copy the previous pattern to B.

Select B Click
PREVIOUS

Click the squares to modify the pattern, and then click BLINKSHOW, you can browse the overlay effect of
different pages.

Modify pattern

Ciick
BLINKSHOW

Preview

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Cick GETCODE to generate array.

GETCODE

The data on the left of the LED matrix are stored together and end with "----x", and the data on the right are
stored together and end with "----y". Copy these two sets of dot matrix data and replace the array content
in "01.5_Matrix.ino".

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Open the folder “01.5_Matrix” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click

“01.5_Matrix.ino”
Code
1 #include "Freenove_VK16K33_Lib_For_ESP32.h"
2
3 #define EMOTION_ADDRESS 0x70
4 #define EMOTION_SDA 13
5 #define EMOTION_SCL 14
6
7 Freenove_ESP32_VK16K33 matrix = Freenove_ESP32_VK16K33();
8
9 byte x_array[][8] = {//Put the data into the left LED matrix
10 //////////////////////////////////////////////
11 0x00, 0x18, 0x24, 0x42, 0x42, 0x24, 0x18, 0x00, Replace the x array on
12 0x00, 0x18, 0x24, 0x5A, 0x5A, 0x24, 0x18, 0x00, the left
13 //////////////////////////////////////////////
14 };
15
16 byte y_array[][8] = {//Put the data into the right LED matrix
17 //////////////////////////////////////////////
18 0x00, 0x18, 0x24, 0x42, 0x42, 0x24, 0x18, 0x00, Replace the y array on
19 0x00, 0x18, 0x24, 0x5A, 0x5A, 0x24, 0x18, 0x00, the right
20 /////////////////////////////////////////////////
21 };
22
23 void setup()
24 {
25 matrix.init(EMOTION_ADDRESS, EMOTION_SDA, EMOTION_SCL);
26 matrix.setBlink(VK16K33_BLINK_OFF);
27 }
28
29 void loop()
30 {
31 int count = sizeof(x_array) / sizeof(x_array[0]);
32 for (int i = 0; i < count; i++)
33 {
34 matrix.showStaticArray(x_array[i], y_array[i]);
35 delay(500);
36 }
37 }
Copy the array generated by the auxiliary applet to the program, and then click upload.

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Upload

You can see the LED matrix keep blinking like eyes.

Code Explanation
Add the header file of LED matrix. Each time before controlling LED matrix, please add its header file first.
1 #include "Freenove_VK16K33_Lib_For_ESP32.h"
Apply for an Freenove_ESP32_VK16K33 object and name it matrix.
7 Freenove_ESP32_VK16K33 matrix = Freenove_ESP32_VK16K33();
Define IIC address and IIC pins of HT16K33 chip. Call init() function to initialize it and call setBlink() to set the
LED matrix not blink.
3 #define EMOTION_ADDRESS 0x70
4 #define EMOTION_SDA 13
5 #define EMOTION_SCL 14
… ...
25 matrix.init(EMOTION_ADDRESS, EMOTION_SDA, EMOTION_SCL);
26 matrix.setBlink(VK16K33_BLINK_OFF);
Define count to calculate the number of one-dimensional arrays contained in the two-dimensional x_array,
and use the for loop to call the showStaticArray() function to continuously display the content of LED matrix.
31 int count = sizeof(x_array) / sizeof(x_array[0]);
32 for (int i = 0; i < count; i++)
33 {
34 matrix.showStaticArray(x_array[i], y_array[i]);
35 delay(500);
36 }

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2.6 WS2812

WS2812

Red, green, and blue are called the three primary colors. When you combine these three primary colors of
different brightness, it can produce almost all kinds of visible light.

RGB
The LED of the car is composed of 12 WS2812, each of which is controlled by one pin and supports
cascading. Each WS2812 can emit three basic colors of red, green and blue, and supports 256-level
brightness adjustment, which means that each WS2812 can emit 2^24=16,777,216 different colors.

WS2812: 4-6 WS2812: 7-9

WS2812: 1-3 WS2812:10-12

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Schematic

As shown below, the DOUT of each WS2812 is connected with DIN of the next WS2812, and the 12 WS2812
can be controlled to emit colorful colors by inputting control signals through A0/WS2812.

Sketch

Before programming, please make sure the WS2812 driver library has been installed. If not, please install it as
follows.
Open Arduino IDE, select Sketch on Menu bar, move the mouse to Include library and click Manage Libraries.

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 █ www.freenove.com Chapter 2 Module test 79

Enter Freenove_WS2812_Lib_for_ESP32 in the input field of the pop-up window, find it and then click Install.

Wait for the installation to finish.

Next we will download the code to ESP32 to test the LED. Open the folder “01.6_WS2812” in the
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and then double click “01.6_WS2812.ino”.

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Code
1 #include "Freenove_WS2812_Lib_for_ESP32.h"
2
3 #define LEDS_COUNT 12 //Define the count of WS2812
4 #define LEDS_PIN 32 //Define the pin number for ESP32
5 #define CHANNEL 0 //Define the channels that control WS2812
6 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(LEDS_COUNT, LEDS_PIN, CHANNEL, TYPE_GRB);
7
8 void setup() {
9 strip.begin(); //Initialize WS2812
10 strip.setBrightness(10);//Set the brightness of WS2812
11 }
12
13 void loop() {
14 for (int j = 0; j < 255; j += 2) {
15 for (int i = 0; i < LEDS_COUNT; i++) {
16 strip.setLedColorData(i, strip.Wheel((i * 256 / LEDS_COUNT + j) & 255));//Set the color
17 of the WS2812
}
18 strip.show(); //Call WS2812 to display colors
19 delay(5);
20 }
21 }
Download the code to the ESP32, turn ON the power switch and the WS2812 on the car will emit lights like
rainbow.
Code Explanation：
Add the header file of WS2812. Each time before controlling WS2812, please add its header file.
1 #include "Freenove_WS2812_Lib_for_ESP32.h"
Set the number of WS2812, define the control pin and channel. Instantiate a WS2812 object and name it
strip.
3 #define LEDS_COUNT 12 //Define the count of WS2812
4 #define LEDS_PIN 32 //Define the pin number for ESP32
5 #define CHANNEL 0 //Define the channels that control WS2812
6 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(LEDS_COUNT, LEDS_PIN, CHANNEL, TYPE_GRB);
Initialize WS2812, set their brightness to be 10. The range of brightness is 0-255.
9 strip.begin(); //Initialize WS2812
10 strip.setBrightness(10);//Set the brightness of WS2812
Set the color of WS2812. Note: The color will not be displayed immediately after it is set.
16 strip.setLedColorData(i, strip.Wheel((i * 256 / LEDS_COUNT + j) & 255));
Display the color of WS2812. After setting the color, you need to call show function to display it.
18 strip.show();

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 █ www.freenove.com Chapter 3 Ultrasonic Obstacle Avoidance Car 81

Chapter 3 Ultrasonic Obstacle Avoidance Car

This chapter requires to replace the head pan-tilt. Please follow the instructions below to replace the head of
the car with an ultrasonic head before use.
In the whole tutorial, only Chapter 3 uses the ultrasonic pan-tilt. Please replace the head pan-tilt back to the
LED matrix after finishing this chapter.

3.1 Ultrasonic Module

Replace Pan-tilt

Step 1

M2*4

Remove M2*4 screws to uninstall the pan-tilt.

Step 2

M2 nut

M2*16

Remove the M2*16 screws and M2 nuts on both sides of the Pan-tilt.

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Step 3
M1.4*6

Remove the 4 M1.4*6 screws on the LED matrix module.

Step 4

Use 4 M1.4*6 screws to fix the ultrasonic module to the Pan-tilt.

Step 5

Install M2*16 screws and M2 nuts on both sides of the Pan-tilt.

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Step 6

M2 nut

M2*16

Use 1 M2*16 and 1 M2 nut to fix the three acrylic boards together.
Step 7

M2*4

Use M2*4 screws to fix the ultrasonic pan-tilt to the servo motor 2. Please note that you need to adjust
the servo motor to a position of 90 degrees before fixing the pan-tilt to it.
After finished

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Wiring of the Pan-tilt

Module Gnd Echo Trig Vcc

GND ECHO TRIG VCC
Car
GND 15 12 VCC

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 █ www.freenove.com Chapter 3 Ultrasonic Obstacle Avoidance Car 85

Ultrasonic Module

The ultrasonic ranging module uses the principle that ultrasonic waves will be sent back when encounter
obstacles. We can measure the distance by counting the time interval between sending and receiving of the
ultrasonic waves, and the time difference is the total time of the ultrasonic wave’s journey from being
transmitted to being received. Because the speed of sound in air is a constant, about v=340m/s, we can
calculate the distance between the ultrasonic ranging module and the obstacle: s=vt/2.

2S=V·t.
The HC-SR04 ultrasonic ranging module integrates both an ultrasonic transmitter and a receiver. The
transmitter is used to convert electrical signals (electrical energy) into high frequency (beyond human hearing)
sound waves (mechanical energy) and the function of the receiver is opposite of this. The picture and the
diagram of the HC SR04 ultrasonic ranging module are shown below:

Pin description:
Pin Description
VCC Power supply pin
Trig Trigger pin
Echo Echo pin
GND GND
Technical specs:
Working voltage: 5V Working current: 12mA
Minimum measured distance: 2cm Maximum measured distance: 200cm
Instructions for use: output a high-level pulse in Trig pin lasting for least 10us, the module begins to transmit
ultrasonic waves. At the same time, the Echo pin is pulled up. When the module receives the returned
ultrasonic waves from encountering an obstacle, the Echo pin will be pulled down. The duration of high level
in the Echo pin is the total time of the ultrasonic wave from transmitting to receiving, s=vt/2.

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Schematic

The ultrasonic module is located at the front of the car and is connected to the ESP32 development board
by means of wiring. As can be seen from the figure below, ESP32 uses GPIO12 and GPIO15 to control the
Trig and Echo pins of the ultrasonic module.

Sketch

When the power of the car is turned ON, every module will be initialized and the servo motor will rotate to
90°. The ultrasonic data will be obtained and printed through serial port as the servo motor rotates.
Open the folder “02.1_Ultrasonic_Ranging” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double
click “02.1_Ultrasonic_Ranging.ino”
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 void setup() {
5 Serial.begin(115200);//Open the serial port and set the baud rate to 115200
6 Ultrasonic_Setup(); //Ultrasonic module initialization
7 PCA9685_Setup(); //Servo motor initialization
8 Servo_1_Angle(90); //Set the initial value of Servo 1 to 90 degrees
9 Servo_2_Angle(90); //Set the initial value of Servo 2 to 90 degrees
10 delay(500); //Wait for the servo to arrive at the specified location
11 }
12
13 void loop() {
14 Servo_1_Angle(150); //Turn servo 1 to 150 degrees

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15 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic distance

16 delay(500);
17
18 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
19 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic distance
20 delay(500);
21
22 Servo_1_Angle(30); //Turn servo 1 to 30 degrees
23 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic distance
24 delay(500);
25
26 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
27 Serial.print("Distance: " + String(Get_Sonar()) + "\n");//Print ultrasonic distance
28 delay(500);
29 }
Code Explanation：
Initialize ultrasonic module and PCA9685 chip.
6 Ultrasonic_Setup(); //Ultrasonic module initialization
7 PCA9685_Setup(); //Servo motor initialization
Obtain the distance between ultrasonic module and the obstacle and return a real number data in cm.
15 Get_Sonar()
Rotate the angle of the servo motor 1 and cooperate with the ultrasonic module to obtain distance data.
14 Servo_1_Angle(150); //Turn servo 1 to 150 degrees
… ...
18 Servo_1_Angle(90); //Turn servo 1 to 90 degrees
… ...
22 Servo_1_Angle(30); //Turn servo 1 to 30 degrees
… ...
26 Servo_1_Angle(90); //Turn servo 1 to 90 degrees

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Click “Upload” to upload the code to ESP32. After uploading successfully, click Serial Monitor.

Upload Serial Monitor

Set the baud rate as 115200.

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 █ www.freenove.com Chapter 3 Ultrasonic Obstacle Avoidance Car 89

3.2 Ultrasonic car

After starting the car, the ultrasound acquires data in various directions, makes judgments based on the data
in each direction, and controls the car to avoid obstacles.

Sketch

Open the folder “02.2_Ultrasonic_Ranging_Car”in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and

double click “02.2_Ultrasonic_Ranging_Car.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 #define OBSTACLE_DISTANCE 40
5 #define OBSTACLE_DISTANCE_LOW 20
6 int distance[4]; //Storage of ultrasonic data
7
8 void setup() {
9 Ultrasonic_Setup();//Initialize the ultrasonic module
10 PCA9685_Setup(); //PCA9685 chip initializes
11 }
12
13 void loop()
14 {
15 get_distance(1);//Get multiple Angle distance data
16 //There is no obstacle within 40cm of the front of the car
17 if (distance[1] > OBSTACLE_DISTANCE){
18 //There is an obstacle on the right
19 if (distance[0] >= distance[2] && distance[2] < OBSTACLE_DISTANCE_LOW)
20 Motor_Move(-1000, -1000, 2000, 2000);
21 //There is an obstacle on the left
22 else if (distance[0] < distance[2] && distance[0] < OBSTACLE_DISTANCE_LOW)
23 Motor_Move(2000, 2000, -1000, -1000);
24 else //There are no obstacles around
25 Motor_Move(1000, 1000, 1000, 1000);
26 delay(20);
27 }
28 else if (distance[1] < OBSTACLE_DISTANCE){ //There is an obstacle ahead
29 Motor_Move(0, 0, 0, 0); //Stop the car to judge the situation
30 get_distance(2);
31 if (distance[1] < OBSTACLE_DISTANCE_LOW) //The car got too close to the obstacle
32 Motor_Move(-1000, -1000, -1000, -1000);
33 else if (distance[0] < distance[2]) //There is also an obstacle on the left

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34 Motor_Move(2000, 2000, -2000, -2000);

35 else if (distance[0] > distance[2]) //There is also an obstacle on the right
36 Motor_Move(-2000, -2000, 2000, 2000);
37 delay(200);
38 }
39 }
40
41 //Get distance values for different angles
42 void get_distance(int car_mode)
43 {
44 int add_angle=30;
45 if(car_mode==1)
46 add_angle=0;
47 else
48 add_angle=30;
49 Servo_2_Angle(90);
50 Servo_1_Angle(120+add_angle);
51 delay(100);
52 distance[0] = Get_Sonar();//Get the data on the left
53 Servo_1_Angle(90);
54 delay(100);
55 distance[1] = Get_Sonar();//Get the data in the middle
56 Servo_1_Angle(60-add_angle);
57 delay(100);
58 distance[2] = Get_Sonar();//Get the data on the right
59 Servo_1_Angle(90);
60 delay(100);
61 distance[1] = Get_Sonar();//Get the data in the middle
62 }
Code Explanation：
Define an array to store the distance data of the front left, middle, and front right of the car
6 int distance[4]; //Storage of ultrasonic data
The function to get the distance between obstacles and cars. When car_mode is 1, the scanning range is 60-
120 degrees; when car_mode is 2, the scanning range is 30-150 degrees.
41 //Get distance values for different angles
42 void get_distance(int car_mode)
… {...}
Control the movement function of the car, the parameter range is -4095-4095. When the parameter is a
positive number, the motor rotates forward, and vice versa. The greater the absolute value of the parameter,
the more powerful the car will be.
Motor_Move(M1, M2, M3, M4)

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 █ www.freenove.com Chapter 4 Light Tracing Car 91

Chapter 4 Light Tracing Car

4.1 Photoresistor ADC

The photoresistor is very sensitive to the amount of light present. We can use this feature to make a light-
tracing car. The car is controlled to trun toward the light source by reading the ADC values of the two
photoresistors at the head of the car. Before we start, let us learn how to read the photoresistor value.

Photoresistor

A photoresistor is simply a light sensitive resistor. It is an active component that decreases resistance with
respect to receiving luminosity (light) on the component's light sensitive surface. A photoresistor’s resistance
value will change in proportion to the ambient light detected. With this characteristic, we can use a
photoresistor to detect light intensity. The photoresistor and its electronic symbol are as follows.

The circuit below is used to detect the change of a photoresistor’s resistance value:

In the above circuit, when a photoresistor’s resistance vale changes due to a change in light intensity, the
voltage between the photoresistor and resistor R1 will also change. Therefore, the intensity of the light can
be obtained by measuring this voltage.

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Schematic

The photoresistors are distributed on both sides of the car’s head, and the ADC value collection range of A1
is 0-4095. It can be seen from the circuit that when the brightness of the light received by the photoresistor
R13 and R14 is the same, the voltage at A1 is 3.3/2*4096, which is 2048. Therefore, when the brightness of
the light received by the two photoresistors is different, the value read by the ADC will be greater or less than
this value.

Sketch

Next we download the code to ESP32 to test the photoresistors. Open the folder “03.1_Photosensitive” in
“Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click “03.1_Photosensitive.ino”
Code
1 #define PHOTOSENSITIVE_PIN 33 //Define the pins that ESP32 reads photosensitive
2 int photosensitiveADC; //Defines a variable to store ADC values
3
4 void setup()
5 {
6 pinMode(PHOTOSENSITIVE_PIN, INPUT);//Configure the pins for input mode
7 Serial.begin(115200); //Initialize the serial port and set the baud rate to 115200
8 }
9
10 void loop()
11 {
12 photosensitiveADC = analogRead(PHOTOSENSITIVE_PIN);//Read the photosensitive resistance
value
13 Serial.print("photosensitiveADC: ");
14 Serial.println(photosensitiveADC); //Print photosensitive resistance value
15 delay(500);

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 █ www.freenove.com Chapter 4 Light Tracing Car 93

16 }
Code Explanation：
Define the pin to read photoresistors.
1 #define PHOTOSENSITIVE_PIN 33 //Define the pins that ESP32 reads photosensitive
Call analogRead to read the differential value of the photoresistors and store it in the photosensitiveADC.
12 photosensitiveADC = analogRead(PHOTOSENSITIVE_PIN);//Read the photosensitive resistance value
Print the photoresistor value through the serial port.
13 Serial.print("photosensitiveADC: ");
14 Serial.println(photosensitiveADC); //Print photosensitive resistance value
Click “Upload” to upload the code to ESP32. When finishes uploading, click Serial Monitor.

Upload Serial Monitor

Set baud rate as 115200.

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4.2 Light Tracing Car

When light shines on R13, the resistance value of R13 becomes smaller, and the ADC value of photoresistor
becomes larger; when light shines on R14, the resistance value of R14 becomes smaller, and the ADC value
of photoresistor becomes smaller. Based on that, when the ADC value is detected to be less than 2048, it
R14 R13
indicates that the light source is on the left of the car, and when the ADC value is greater than 2048, it
means that the light source is on the right of the car.

Sketch

When car is powered ON, the ADC value of the current environment will be obtained. After initialization, the
buzzer will sound once to remind users to test the light-tracing function. When users approach the car with
light source the car, the car will turn with the light source.

Open the folder “03.2_Photosensitive_Car” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double

click “03.2_Photosensitive_Car.ino”
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 int photosensitive_sensitivity = 100;//Set the sensitivity of the photosensitive
5 int photosensitive_init_value = 0; //Set the car's initial environment ADC value
6
7 void setup(){
8 Emotion_Setup(); //Emotion initialization
9 Buzzer_Setup(); //Buzzer initialization
10 Photosensitive_Setup(); //Photosensitive initialization
11 PCA9685_Setup(); //Initialize PCA9685 to control motor
12 photosensitive_init_value = Get_Photosensitive();
13 Buzzer_Alert(1,1); //The buzzer beeps to prompt the user to start playing
14 }
15
16 void loop(){
17 //There is a light source on the left side of the car
18 if (Get_Photosensitive() < (photosensitive_init_value - photosensitive_sensitivity)){
19 wheel(2,100);

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 █ www.freenove.com Chapter 4 Light Tracing Car 95

20 Motor_Move(-2000, -2000, 2000, 2000);

21 }
22 //There is a light source on the right side of the car
23 else if (Get_Photosensitive() > (photosensitive_init_value + photosensitive_sensitivity)){
24 wheel(1,100);
25 Motor_Move(2000, 2000, -2000, -2000);
26 }
27 //The light is in the middle of the car
28 else{
29 eyesBlink(100);
30 Motor_Move(0, 0, 0, 0);
31 }
32 }
Code Explanation：
Set the sensitivity of the photoresistor. You can adjust the value according to the change of the
environment. The value is recommended to be between 30-300.
4 int photosensitive_sensitivity = 100;//Set the sensitivity of the photosensitive
Initialize Emotion led matrix, buzzer, photoresistor and motor.
8 Emotion_Setup(); //Emotion initialization
9 Buzzer_Setup(); //Buzzer initialization
10 Photosensitive_Setup(); //Photosensitive initialization
11 PCA9685_Setup(); //Initialize PCA9685 to control motor
Get the ADC value of ambient light during initialization.
12 photosensitive_init_value = Get_Photosensitive();
Determine the relative position of the light source and the car.
18 if (Get_Photosensitive() < (photosensitive_init_value - photosensitive_sensitivity))
… ...
23 else if (Get_Photosensitive() > (photosensitive_init_value + photosensitive_sensitivity))
… ...
28 else

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Chapter 5 Line Tracking Car

5.1 Line tracking sensor

Track Sensor

There are three Reflective Optical Sensors on this car. When the infrared light emitted by infrared diode shines
on the surface of different objects, the sensor will receive light with different intensities after reflection.
As we know, black objects absorb light better. So when black lines are drawn on the white plane, the sensor
can detect the difference. The sensor can also be called Line Tracking Sensor.
Warning:
Reflective Optical Sensor (including Line Tracking Sensor) should be avoided using in environment with
infrared interference, like sunlight. Sunlight contains a lot of invisible light such as infrared and ultraviolet.
Under environment with intense sunlight, Reflective Optical Sensor cannot work normally.
The following table shows the values of all cases when three Tracking Sensors detect objects of different colors.
Among them, black objects or no objects were detected to represent 1, and white objects were detected to
represent 0.
Left Middle Right Value(binary) Value(decimal)
0 0 0 000 0
0 0 1 001 1
0 1 0 010 2
0 1 1 011 3
1 0 0 100 4
1 0 1 101 5
1 1 0 110 6
1 1 1 111 7

Sketch

The car calls the PCF8574 library file, if you haven’t installed it yet, please install it first.
Click “Sketch”, select “Include Library” and then select Add .ZIP Library...”.

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 █ www.freenove.com Chapter 5 Line Tracking Car 97

Input “PCF8574” in the searching field and find the library marked below, click “Install”.

The line tracking module is connected to the PCF8574. The ESP32 obtains whether the three channels of the
line tracking module are triggered by reading the IO value of the PCF8574, and prints it out through the serial
port.
Open the folder “04.1_Tracking_Sensor” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click
“04.1_Tracking_Sensor.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 void setup() {
5 Serial.begin(115200); //set baud rate
6 Track_Setup();
7 }
8
9 void loop() {
10 Track_Read();
11 Serial.print("Sensor Value (L / M / R / ALL) : ");
12 for (int i = 0; i < 4; i++) {
13 Serial.print(sensorValue[i]);
14 Serial.print('\t');
15 }
16 Serial.print('\n');
17 delay(500);
18 }

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Code Explanation：
Initialize PCF8574 chip.
6 Track_Setup();
The function that obtains the tracking module feedback value. After calling this function, ESP32 will store the
data in the array sensorValue[].
10 Track_Read();
Print the obtained feedback value through serial port.
11 Serial.print("Sensor Value (L / M / R / ALL) : ");
12 for (int i = 0; i < 4; i++) {
13 Serial.print(sensorValue[i]);
14 Serial.print('\t');
15 }
16 Serial.print('\n');
Click “Upload” to upload to code to ESP32 development board. After uploading successfully, click “Serial
Monitor”.

Serial
Upload
Monitor

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 █ www.freenove.com Chapter 5 Line Tracking Car 99

5.2 Line Tracking Car

The car will make different actions according to the value transmitted by the line-tracking sensor.

Left Middle Right Value(binary) Value(decimal) Action

0 0 0 000 0 Stop
0 0 1 001 1 Turn Left
0 1 0 010 2 Move Forward
0 1 1 011 3 Turn Left
1 0 0 100 4 Turn Right
1 0 1 101 5 Move Forward
1 1 0 110 6 Turn Right
1 1 1 111 7 Stop
Turn on the power. Use a black tape to build a line and then put your car on it as below.

Sketch

Open the folder “ 04.2_Track_Car” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click

“04.2_Track_Car.ino”.
Code
1 #include <Arduino.h>
2 #include "Freenove_4WD_Car_For_ESP32.h"
3
4 #define SPEED_LV4 ( 4000 )
5 #define SPEED_LV3 ( 3000 )

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6 #define SPEED_LV2 ( 2500 )

7 #define SPEED_LV1 ( 1500 )
8
9 void setup(){
10 Track_Setup(); //Trace module initialization
11 PCA9685_Setup(); //Motor drive initialization
12 Emotion_Setup(); //Emotion initialization
13 }
14
15 void loop(){
16 Track_Read();
17 switch (sensorValue[3])
18 {
19 case 2: //010
20 case 5: //101
21 showArrow(1, 100);
22 Motor_Move(SPEED_LV1, SPEED_LV1, SPEED_LV1, SPEED_LV1); //Move Forward
23 break;
24 case 0: //000
25 case 7: //111
26 eyesBlink1(100);
27 Motor_Move(0, 0, 0, 0); //Stop
28 break;
29 case 4: //100
30 case 6: //110
31 wheel(2, 100);
32 Motor_Move(SPEED_LV4, SPEED_LV4 , - SPEED_LV3, -SPEED_LV3);//Turn Right
33 break;
34 case 1: //001
35 case 3: //011
36 wheel(1, 100);
37 Motor_Move(-SPEED_LV3, -SPEED_LV3, SPEED_LV4, SPEED_LV4); //Turn Left
38 break;
39 default:
40 break;
41 }
42 }
Code Explanation：
Initialize PCF8574 chip, PCA9685 chip, Emotion module.
10 Track_Setup(); //Trace module initialization
11 PCA9685_Setup(); //Motor drive initialization
12 Emotion_Setup(); //Emotion initialization

The function that obtains the tracking module feedback value. After calling this function, ESP32 will store the
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 █ www.freenove.com Chapter 5 Line Tracking Car 101

data in the array sensorValue[].

16 Track_Read();
Control the car to move forward, turn left, turn right, stop, etc. based on the value of line tracking module.
17 switch (sensorValue[3])
18 {
19 case 2: //010
20 case 5: //101
21 showArrow(1, 100);
22 Motor_Move(SPEED_LV1, SPEED_LV1, SPEED_LV1, SPEED_LV1); //Move Forward
23 break;
24 case 0: //000
25 case 7: //111
26 eyesBlink1(100);
27 Motor_Move(0, 0, 0, 0); //Stop
28 break;
29 case 4: //100
30 case 6: //110
31 wheel(2, 100);
32 Motor_Move(SPEED_LV4, SPEED_LV4 , - SPEED_LV3, -SPEED_LV3);//Turn Right
33 break;
34 case 1: //001
35 case 3: //011
36 wheel(1, 100);
37 Motor_Move(-SPEED_LV3, -SPEED_LV3, SPEED_LV4, SPEED_LV4); //Turn Left
38 break;
39 default:
40 break;
41 }
Note: The tracks made of black tape vary from different people. If your car cannot move along the black tape,
you can modify the parameters in Motor_Move().

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Chapter 6 Infrared Car

6.1 Introduction of infrared reception function

Infrared Remote
An infrared(IR) remote control is a device with a certain number of buttons. Pressing down different buttons
will make the infrared emission tube, which is located in the front of the remote control, send infrared ray with
different command. Infrared remote control technology is widely used in electronic products such as TV, air
conditioning, etc. Thus making it possible for you to switch TV programs and adjust the temperature of the
air conditioning when away from them. The remote control we use is shown below:

Pull out

Infrared receiver
An infrared(IR) receiver is a component which can receive the infrared light, so we can use it to detect the
signal emitted by the infrared remote control. DATA pin here outputs the received infrared signal.

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When you use the infrared remote control, the infrared remote control sends a key value to the receiving
circuit according to the pressed keys. We can program the ESP32-WROVER to do things like lighting, when a
key value is received.
The following is the key value that the receiving circuit will receive when each key of the infrared remote
control is pressed.
ICON KEY Value ICON KEY Value
FFA25D / E318261B FFB04F / F0C41643

FFE21D / EE886D7F FF30CF / 9716BE3F

FF22DD / 52A3D41F FF18E7 / 3D9AE3F7

FF02FD / D7E84B1B FF7A85 / 6182021B

FFC23D / 20FE4DBB FF10EF / 8C22657B

FFE01F / F076C13B FF38C7 / 488F3CBB

FFA857 / A3C8EDDB FF5AA5 / 449E79F

FF906F / E5CFBD7F FF42BD / 32C6FDF7

FF6897 / C101E57B FF4AB5 / 1BC0157B

FF9867 / 97483BFB FF52AD / 3EC3FC1B

This sketch uses the infrared receiving tube to receive the value sent form the infrared remote control, and
print it out via the serial port.

Sketch

We use the third party library IRremoteESP8266. If you haven't installed it yet, please do so first.
The steps to add third-party Libraries are as follows: open arduino->Sketch->Include library-> Manage
libraries. Enter "IRremoteESP8266" in the search bar and select " IRremoteESP8266" for installation.
Refer to the following operations:

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Each time when you press the infrared remote control, the car will print the received infrared coding value
through serial port.

Open the folder “ 05.1_IR_Receiver ” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click

“05.1_IR_Receiver.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5
6 #define RECV_PIN 0 // Infrared receiving pin
7 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
8 decode_results results; // Create a decoding results class object
9
10 void setup()
11 {
12 Serial.begin(115200); // Initialize the serial port and set the baud rate to 115200
13 irrecv.enableIRIn(); // Start the receiver
14 Serial.print("IRrecvDemo is now running and waiting for IR message on Pin ");
15 Serial.println(RECV_PIN); //print the infrared receiving pin
16 }
17
18 void loop()
19 {

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20 if (irrecv.decode(&results)) { // Waiting for decoding

21 unsigned long value = results.value;
22 Serial.println(value,HEX); // Print out the decoded results
23 irrecv.resume(); // Release the IRremote. Receive the next value
24 }
25 delay(100);
26 }
Download the code to ESP32-WROVER, open the serial port monitor, set the baud rate to 115200, press the
IR remote control, the pressed keys value will be printed out through the serial port. As shown in the
following figure: (Note that when the remote control button is pressed for a long time, the infrared receiving
circuit receives a continuous high level, that is, it receives a hexadecimal "F")

Normal

Abnormal

First, include header file. Each time you use the infrared library, you need to include the header file at the
beginning of the program.
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
Second, define an infrared receive pin and associates it with the receive class. Apply a decode_results to
decode the received infrared value.
6 #define RECV_PIN 0 // Infrared receiving pin
7 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
8 decode_results results; // Create a decoding results class object
Third, enable infrared reception function, if you do not use this function, you won't receive the value from the
infrared remote control.
13 irrecv.enableIRIn(); // Start the receiver

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Finally, put the received data into the results class and print out the data through the serial port. Note that
you must use resume() to release the infrared receive function every time when you receive data, otherwise
you can only use the infrared receive function once and cannot receive the data next time.
18 void loop() {
19 if (irrecv.decode(&results)) { // Waiting for decoding
20 serialPrintUint64(results.value, HEX); // Print out the decoded results
21 Serial.println("");
22 irrecv.resume(); // Release the IRremote. Receive the next value
23 }
24 delay(1000);
25 }
Reference
class IRrecv You need to add the library each time you use the Infrared Reception.
IRrecv irrecv(Pin)：Create a class object used to receive class, and associated with Pin.
enableIRIn()：Before using the infrared decoding function, enable the infrared receiving function. Otherwise the
correct data will not be received.
decode(&results): Determine whether the infrared has received data, and if so, return true and store the data
in the decode_results class. If no data is received, false is returned.
resume()：Release the IRremote. Or, the infrared reception and decoding function cannot be used again.
For more information about Infrared Remote Control, please visit:
https://github.com/crankyoldgit/IRremoteESP8266/tree/master/src

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6.2 Infrared Car

On the basis of the previous section, we use the infrared remote control to control the car. Press the black
button on the infrared remote control to control the car to move forward, backward, turn left, and turn right.
Press the other buttons and the cart stops moving.

Sketch

Open the folder “05.2_IR_Receiver_Car” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double

click “05.2_IR_Receiver_Car.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6
7 #define RECV_PIN 0 // Infrared receiving pin
8 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
9 decode_results results; // Create a decoding results class object
10 int motor_speed = 3000;
11 int emotionMode = 4;
12 int motor_flag = 0;
13
14 void setup(){
15 irrecv.enableIRIn(); //Initialize the infrared receiving pin
16 PCA9685_Setup(); //Initializes the motor control chip
17 Emotion_Setup(); //Initializes Emotion module
18 }
19
20 void loop(){
21 if (irrecv.decode(&results)) { // Waiting for decoding
22 handleControl(results.value); // Handle the commands from remote control
23 irrecv.resume();
24 }
25 showEmotion(emotionMode);
26 }
27
28 void handleControl(unsigned long value) {
29 // Handle the commands
30 switch (value) {
31 case 0xFF02FD:// Receive the number '+'
32 motor_flag = 1;

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33 Motor_Move(motor_speed, motor_speed, motor_speed, motor_speed); // Go forward

34 delay(200);
35 Motor_Move(0, 0, 0, 0);
36 break;
37 case 0xFF9867:// Receive the number '-'
38 motor_flag = 2;
39 Motor_Move(-motor_speed, -motor_speed, -motor_speed, -motor_speed); // Back up
40 delay(200);
41 Motor_Move(0, 0, 0, 0);
42 break;
43 case 0xFFE01F:// Receive the number '|<<'
44 motor_flag = 3;
45 Motor_Move(-motor_speed, -motor_speed, motor_speed, motor_speed); // Turn left
46 delay(200);
47 Motor_Move(0, 0, 0, 0);
48 break;
49 case 0xFF906F:// Receive the number '>>|'
50 motor_flag = 4;
51 Motor_Move(motor_speed, motor_speed, -motor_speed, -motor_speed); // Turn right
52 delay(200);
53 Motor_Move(0, 0, 0, 0);
54 break;
55 case 0xFF6897:// Receive the number '0'
56 emotionMode = millis() % 10;
57 break;
58 case 0xFFFFFFFF:// Remain unchanged
59 if (motor_flag == 1)
60 Motor_Move(motor_speed, motor_speed, motor_speed, motor_speed); // Go forward
61 else if (motor_flag == 2)
62 Motor_Move(-motor_speed, -motor_speed, -motor_speed, -motor_speed); // Back up
63 else if (motor_flag == 3)
64 Motor_Move(-motor_speed, -motor_speed, motor_speed, motor_speed); // Turn left
65 else if (motor_flag == 4)
66 Motor_Move(motor_speed, motor_speed, -motor_speed, -motor_speed); // Turn right
67 else
68 Motor_Move(0, 0, 0, 0);
69 break;
70 default: // Control the car to stop moving
71 motor_flag = 0;
72 Motor_Move(0, 0, 0, 0); //stop
73 break;
74 }
75 }
Compile and upload the code to the ESP32-WROVER. When pressing "0", "1", "2", "3" of the infrared remote

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 █ www.freenove.com Chapter 6 Infrared Car 109

control, the buzzer will sound once, and the brightness of the LED light will change correspondingly.

Move forward

Turn left

Turn right

Move back

Code Explanation:
Call the decode function to obtain the infrared remote control coding information, and call the handleControl
function to execute actions corresponding to different code values. After each execution of the program, call
the resume function to release the infrared pin. If this function is not called, the infrared receiving and
decoding functions cannot be used again.
20 void loop(){
21 if (irrecv.decode(&results)) { // Waiting for decoding
22 handleControl(results.value); // Handle the commands from remote control
23 irrecv.resume();
24 }
25 showEmotion(emotionMode);
26 }
Infrared key code value processing function, received the infrared remote control sent instructions, the
execution of the corresponding program.
28 void handleControl(unsigned long value) {
29 // Handle the commands
30 switch (value) {
31 case 0xFF02FD:// Receive the number '+'
... ...
37 case 0xFF9867:// Receive the number '-'
... ...

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43 case 0xFFE01F:// Receive the number '|<<'

... ...
49 case 0xFF906F:// Receive the number '>>|'
... ...
55 case 0xFF6897:
... ...
58 case 0xFFFFFFFF:// Remain unchanged
... ...
70 default: // Control the car to stop moving
... ...
74 }
75 }

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6.3 Multi-Functional Infrared Car

On the basis of the last section, we integrate other functions of the car into the infrared car, and most of the
functions of the car can be controlled by the infrared remote control.

Sketch

Open the folder “05.3_Multi_Functional_Car” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and

double click “05.3_Multi_Functional_Car.ino”.
Code
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6 #include "Freenove_4WD_Car_Emotion.h"
7 #include "Freenove_WS2812_Lib_for_ESP32.h"
8
9 Freenove_ESP32_WS2812 strip = Freenove_ESP32_WS2812(12, 32, 0, TYPE_GRB);
10 u8 m_color[5][3] = { {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {255, 255, 255}, {0, 0, 0} };
11 #define RECV_PIN 0 // Infrared receiving pin
12 IRrecv irrecv(RECV_PIN); // Create a class object used to receive class
13 decode_results results; // Create a decoding results class object
14
15 static int servo_1_angle=90;
16 static int servo_2_angle=90;
17 static int emotion_flag=0;
18 static int ws2812_flag=0;
19
20 void setup(){
21 Serial.begin(115200);
22 PCA9685_Setup();
23 Buzzer_Setup();
24 Emotion_Setup();
25 strip.begin();
26 strip.setBrightness(10);
27 irrecv.enableIRIn(); //Initialize the infrared receiving pin
28 Servo_1_Angle(servo_1_angle);
29 Servo_2_Angle(servo_2_angle);
30 }
31
32 void loop(){
33 if (irrecv.decode(&results)) { // Waiting for decoding

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34 handleControl(results.value); // Handle the commands from remote control

35 unsigned long value=results.value;
36 Serial.print(value,HEX);
37 Serial.println();
38 irrecv.resume(); // Release infrared decoding function
39 }
40 }
41
42 void handleControl(unsigned long value) {
43 // Handle the commands
44 switch (value) {
45 case 0xFF02FD:// Receive the number '+'
46 Motor_Move(2000,2000,2000,2000);
47 break;
48 case 0xFF9867:// Receive the number '-'
49 Motor_Move(-2000,-2000,-2000,-2000);
50 break;
51 case 0xFFE01F:// Receive the number '|<<'
52 Motor_Move(-2000,-2000,2000,2000);
53 delay(200);
54 Motor_Move(0,0,0,0);
55 break;
56 case 0xFF906F:// Receive the number '>>|'
57 Motor_Move(2000,2000,-2000,-2000);
58 delay(200);
59 Motor_Move(0,0,0,0);
60 break;
61 case 0xFFA857:// Receive the number '▶'
62 Motor_Move(0,0,0,0);
63 break;
64 case 0xFF6897:// Receive the number '0'
65 servo_1_angle=servo_1_angle+10;
66 Servo_1_Angle(servo_1_angle);
67 break;
68 case 0xFF30CF:// Receive the number '1'
69 servo_1_angle=servo_1_angle-10;
70 Servo_1_Angle(servo_1_angle);
71 break;
72 case 0xFF10EF:// Receive the number '4'
73 servo_1_angle=90;
74 Servo_1_Angle(servo_1_angle);
75 break;
76 case 0xFFB04F:// Receive the number 'C'
77 servo_2_angle=servo_2_angle+10;

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78 Servo_2_Angle(servo_2_angle);
79 break;
80 case 0xFF7A85:// Receive the number '3'
81 servo_2_angle=servo_2_angle-10;
82 Servo_2_Angle(servo_2_angle);
83 break;
84 case 0xFF5AA5:// Receive the number '6'
85 servo_2_angle=90;
86 Servo_2_Angle(servo_2_angle);
87 break;
88 case 0xFF22DD:// Receive the number 'TEST'
89 Buzzer_Alert(1,1);
90 break;
91 case 0xFF18E7:// Receive the number '2'
92 emotion_flag=millis()%21;
93 staticEmtions(emotion_flag);
94 break;
95 case 0xFF38C7:// Receive the number '5'
96 clearEmtions();
97 break;
98 case 0xFF42BD:// Receive the number '7'
99 ws2812_flag=millis()%4;
100 WS2812_Show();
101 break;
102 case 0xFF4AB5:// Receive the number '8'
103 ws2812_flag=4;
104 WS2812_Show();
105 break;
106 case 0xFFFFFFFF:// Remain unchanged
107 break;
108 default:
109 break;
110 }
111 }
112
113 void WS2812_Show(){
114 for (int i = 0; i < 12; i++)
115 strip.setLedColorData(i, m_color[ws2812_flag][0], m_color[ws2812_flag][1],
m_color[ws2812_flag][2]);
116 strip.show();
117 }

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After the code is successfully uploaded, turn on the power of the car and use the infrared remote control to
control the car and other functions. The corresponding keys and their functions are shown in the following
table:

Pull out

ICON KEY Value Function ICON KEY Value Function

FF02FD Move forward FF22DD Control the buzzer

FFE01F Turn left FF18E7 Random emoticons

FF906F Turn light FF38C7 Turn off emoticons

FF9867 Move back FF42BD Random display of WS2812

FFA857 Stop the car FF4AB5 Turn off WS2812 display

FF6897 Control servo 1 turn left FFB04F Control servo 2 turn left

FF30CF Control servo 1 turn right FF7A85 Control servo 2 turn right

FF10EF Control servo 1 turn to 90° FF5AA5 Control servo 2 turn to 90°

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Code Explanation:
Add the header file for the car.
1 #include <Arduino.h>
2 #include <IRremoteESP8266.h>
3 #include <IRrecv.h>
4 #include <IRutils.h>
5 #include "Freenove_4WD_Car_For_ESP32.h"
6 #include "Freenove_4WD_Car_Emotion.h"
7 #include "Freenove_WS2812_Lib_for_ESP32.h"
Initialize each function of the car.
21 Serial.begin(115200); // Turn on the serial port monitor and set the baud rate to 115200
22 PCA9685_Setup(); // Initialize the PCA9685 chip
23 Buzzer_Setup(); //Initialize the buzzer
24 Emotion_Setup(); //Initializes the expression module
25 strip.begin(); //Initialize the WS2812
26 strip.setBrightness(10);// Set the brightness of the WS2812 to 10
27 irrecv.enableIRIn(); //Initialize the infrared receiving pin
28 Servo_1_Angle(servo_1_angle);
29 Servo_2_Angle(servo_2_angle);
Set the color of WS2812 and have it display the corresponding color.
113 void WS2812_Show(){
114 for (int i = 0; i < 12; i++)
115 strip.setLedColorData(i, m_color[ws2812_flag][0], m_color[ws2812_flag][1],
m_color[ws2812_flag][2]);
116 strip.show();
117 }
Infrared key code value processing function, received the infrared remote control sent instructions, the
execution of the corresponding program.
42 void handleControl(unsigned long value) {
43 // Handle the commands
44 switch (value) {
45 case 0xFF02FD:// Receive the number '+'
… ...
48 case 0xFF9867:// Receive the number '-'
… ...
51 case 0xFFE01F:// Receive the number '|<<'
… ...
56 case 0xFF906F:// Receive the number '>>|'
… ...
61 case 0xFFA857:// Receive the number '▶'
… ...
64 case 0xFF6897:// Receive the number '0'
… ...
68 case 0xFF30CF:// Receive the number '1'

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… ...
72 case 0xFF10EF:// Receive the number '4'
… ...
76 case 0xFFB04F:// Receive the number 'C'
… ...
80 case 0xFF7A85:// Receive the number '3'
… ...
84 case 0xFF5AA5:// Receive the number '6'
… ...
88 case 0xFF22DD:// Receive the number 'TEST'
… ...
91 case 0xFF18E7:// Receive the number '2'
… ...
95 case 0xFF38C7:// Receive the number '5'
… ...
98 case 0xFF42BD:// Receive the number '7'
… ...
102 case 0xFF4AB5:// Receive the number '8'
… ...
106 case 0xFFFFFFFF:// Remain unchanged
… ...
108 default:
109 break;
110 }
111 }

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 █ www.freenove.com Chapter 7 WiFi Car 117

Chapter 7 WiFi Car

7.1 WiFi Sending and Receiving Data

Before programming, we need to have a basic understanding of WiFi.

Station mode
When ESP32 selects Station mode, it acts as a WiFi client. It can connect to the router network and
communicate with other devices on the router via WiFi connection. As shown below, the PC is connected to
the router, and if ESP32 wants to communicate with the PC, it needs to be connected to the router.

AP mode
When ESP32 selects AP mode, it creates a hotspot network that is separate from the Internet and waits for
other WiFi devices to connect. As shown in the figure below, ESP32 is used as a hotspot. If a mobile phone or
PC wants to communicate with ESP32, it must be connected to the hotspot of ESP32. Only after a connection
is established with ESP32 can they communicate.

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AP+Station mode
In addition to AP mode and station mode, ESP32 can also use AP mode and station mode at the same time.
This mode contains the functions of the previous two modes. Turn on ESP32's station mode, connect it to the
router network, and it can communicate with the Internet via the router. At the same time, turn on its AP
mode to create a hotspot network. Other WiFi devices can choose to connect to the router network or the
hotspot network to communicate with ESP32.
TCP connection
Before transmitting data, TCP needs to establish a logical connection between the sending end and the
receiving end. It provides reliable and error-free data transmission between the two computers. In the TCP
connection, the client and the server must be clarified. The client sends a connection request to the server,
and each time such a request is proposed, a "three-times handshake" is required.

Three-times handshake: In the TCP protocol, during the preparation phase of sending data, the client and the
server interact three times to ensure the reliability of the connection, which is called "three-times handshake".
The first handshake, the client sends a connection request to the server and waits for the server to confirm.
The second handshake, the server sends a response back to the client informing that it has received the
connection request.
The third handshake, the client sends a confirmation message to the server again to confirm the connection.

the first handshake

the second handshake

the third handshake

TCP is a connection-oriented, low-level transmission control protocol. After TCP establishes a connection, the
client and server can send and receive messages to each other, and the connection will always exist as long
as the client or server does not initiate disconnection. Each time one party sends a message, the other party
will reply with an ack signal.

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 █ www.freenove.com Chapter 7 WiFi Car 119

The client sends a data

message, and the server
replies with a
confirmation signal.

The server sends a data

message, and the client
replies with a
confirmation signal.

Install Freenove app

There are three ways to install app, you can choose any one.
Method 1
Use Google play to search “Freenove”, download and install.

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120 Chapter 7 WiFi Car www.freenove.com █

Method 2
Visit https://play.google.com/store/apps/details?id=com.freenove.suhayl.Freenove, and click install.

Method 3
Visit https://github.com/Freenove/Freenove_app_for_Android, download the files in this library, and install
freenove.apk to your Android phone manually.

Click here to
download.

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 █ www.freenove.com Chapter 7 WiFi Car 121

Menu
Open application “Freenove”, as shown below:

MENU

Device
Selection
Area

Home Page Store

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122 Chapter 7 WiFi Car www.freenove.com █

Introduction of the APP

In this chapter, we use Freenove 4WD Car for ESP32, so it is necessary to understand the interface of this
mode.

IP address Connect Manual Light Tracking

Take photos Buzzer

Car speed Vedio

Emotion RGB LED

Control car running Control camera angle and position.

Sketch

Open “06.1_WiFi_APP_TcpServer” in “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and double click

“06.1_WiFi_APP_TcpServer.ino”.
Before uploading the code, you need to modify it based on the name and password of your router.
Code
1 #include <WiFi.h>
Modify based on the name
2 #include <WiFiClient.h>
and password of your router.
3 #include <WiFiAP.h>
4 const char* ssid_Router = "********";//Modify according to your router name
5 const char* password_Router = "********";//Modify according to your router password
6 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it Sunshine
7 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to Sunshine
8 WiFiServer server_Cmd(4000);
9 WiFiServer server_Camera(7000);
10

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█ www.freenove.com Chapter 7 WiFi Car 123

11 void setup() {
12 Serial.begin(115200);
13 Serial.println();
14 WiFi.softAP(ssid_AP, password_AP);//Turn on ESP32's AP feature
15 server_Camera.begin(7000); //Turn on camera server
16 server_Cmd.begin(4000); //Turn on Cmd server
17 server_Camera.setNoDelay(true); //Set no delay in sending and receiving data
18 server_Cmd.setNoDelay(true); //Set no delay in sending and receiving data
19 //////////////////////////////////////////////////////////
20 int timeout=0;
21 while(WiFi.isConnected() != true) { //If the connection fails, wait half a second for
another connection request
22 delay(500);
23 Serial.print(".");
24 timeout++;
25 //WiFi.begin(ssid_Router, password_Router);
26 if(timeout==10)
27 break;
28 }
29 //////////////////////////////////////////////////////////
30 Serial.print("\nCamera Ready! Use '");
31 Serial.print(WiFi.softAPIP());
32 Serial.print(" or ");
33 Serial.print(WiFi.localIP());
34 Serial.println("' to connect in Freenove app.");
35 }
36
37 void loop() {
38 WiFiClient client = server_Cmd.available();//listen for incoming clients
39 if (client) { //if you get a client,
40 Serial.println("Command Server connected to a client.");
41 while (client.connected()) {//loop while the client's connected
42 if (client.available()) { //if there's bytes to read from the client,
43 String dataBuffer = client.readStringUntil('\n') + String("\n"); //read data
44 Serial.print(dataBuffer);//print it out the serial monitor
45 }
46 }
47 client.stop();// close the connection:
48 Serial.println("Command Client Disconnected.");
49 }
50 }

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Uplode the code to ESP32 car and open serial monitor.

Upload code Open serial monitor

If you do not have a router nearby, please

If your mobile phone and ESP32 car are
connect your phone to a router named
connected to the same router, please refer
"Sunshine", the password is "Sunshine", please
to this IP address.
refer to this IP address.

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 █ www.freenove.com Chapter 7 WiFi Car 125

Open mobliephone app and select Freenove 4WD Car for ESP32.

Make sure your mobile phone and ESP32 car are connected to the same router. According to the
aforementioned IP address, enter the corresponding IP address, and then click Connect. Tap the button on
the screen and you can see the data on the serial monitor.

Enter the IP address

mentioned before

Connect

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126 Chapter 7 WiFi Car www.freenove.com █

Code Explanation:
Add the library functions of WiFi. Each time before using WiFi, please add these library functions.
1 #include <WiFi.h>
2 #include <WiFiClient.h>
3 #include <WiFiAP.h>
Define four pointer variables to store information.
5 const char* ssid_Router = "********";//Modify according to your router name
6 const char* password_Router = "********";//Modify according to your router password
7 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it Sunshine
8 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to Sunshine
Turn ON AP feature of ESP32. When the function is called, you can search a WiFi signal named “Sunshine” in
your phone.
14 WiFi.softAP(ssid_AP, password_AP);//Turn on ESP32's AP feature
The mobile app uses two servers, one for transmitting images and one for transmitting commands. Set ESP32
to start the two servers. The server with port 7000 is used to receive image data (not used in this section for
the time being), and the server with port 4000 is used to transmit commands. Call the setNoDelay function to
send and receive data directly.
15 server_Camera.begin(7000); //Turn on camera server
16 server_Cmd.begin(4000); //Turn on Cmd server
17 server_Camera.setNoDelay(true); //Set no delay in sending and receiving data
18 server_Cmd.setNoDelay(true); //Set no delay in sending and receiving data
Connect ESP32 to the router. After the router is successfully connected, ESP32 will print the IP address
information to the serial monitor. If there is no router near you, or the router fails to connect, you can delete
this code.
19 //////////////////////////////////////////////////////////
20 int timeout=0;
21 while(WiFi.isConnected() != true) { //If the connection fails, wait half a second for
another connection request
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 █ www.freenove.com Chapter 7 WiFi Car 127

22 delay(500);
23 Serial.print(".");
24 timeout++;
25 WiFi.begin(ssid_Router, password_Router);
26 if(timeout==10)
27 break;
28 }
29 //////////////////////////////////////////////////////////
Define a WiFi client object to monitor whether the server has a client request access signal.
38 WiFiClient client = server_Cmd.available();//listen for incoming clients
Determine whether there is a client connected to the server.
42 while (client.connected()) {//loop while the client's connected
Call available function to query whether the client has sent data to the server.
43 if (client.available()) { //if there's bytes to read from the client,
Call readStringUntil function to read a line of data from the client and print it to the serial monitor.
44 String dataBuffer = client.readStringUntil('\n') + String("\n"); //read data
45 Serial.print(dataBuffer);//print it out the serial monitor
Call stop() function to close the client connection.
48 client.stop();// close the connection:
Reference
Class Station
Every time when using WiFi, you need to include header file "WiFi.h.".
begin(ssid, password,channel, bssid, connect): ESP32 is used as Station to connect hotspot.
ssid: WiFi hotspot name
password: WiFi hotspot password
channel: WiFi hotspot channel number; communicating through specified channel; optional parameter
bssid: mac address of WiFi hotspot, optional parameter
connect: blloean optional parameter, defaulting to true. If set as false, then ESP32 won't connect WiFi.
config(local_ip, gateway, subnet, dns1, dns2): set static local IP address.
local_ip: station fixed IP address.
subnet：subnet mask
dns1,dns2: optional parameter. define IP address of domain name server
status: obtain the connection status of WiFI
local IP(): obtian IP address in Station mode
disconnect(): disconnect wifi
setAutoConnect(boolen): set automatic connection Every time ESP32 is power on, it will connect WiFi
aitomatically.
setAutoReconnect(boolen): set automatic reconnection Every time ESP32 disconnects WiFi, it will
reconnect to WiFi automatically.

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Class AP
Every time when using WiFi, you need to include header file "WiFi.h.".
softAP(ssid, password, channel, ssid_hidden, max_connection):
ssid: WiFi hotspot name
password: WiFi hotspot password
channel: Number of WiFi connection channels, range 1-13. The default is 1.
ssid_hidden: Whether to hide WiFi name from scanning by other devices. The default is not hide.
max_connection: Maximum number of WiFi connected devices. The range is 1-4. The default is 4.
softAPConfig(local_ip, gateway, subnet): set static local IP address.
local_ip: station fixed IP address.
Gateway: gateway IP address
subnet：subnet mask
softAP(): obtian IP address in AP mode
softAPdisconnect (): disconnect AP mode.
Class Client
Every time when using Client, you need to include header file "WiFi.h."
connect(ip, port, timeout)/connect(*host, port, timeout): establish a TCP connection.
ip, *host：ip address of target server
port: port number of target server
timeout: connection timeout
connected(): judge whether client is connecting. If return value is 1, then connect successfully; If return
value is 0, then fail to connect.
stop(): stop tcp connection
print(): send data to server connecting to client
available(): return to the number of bytes readable in receive buffer, if no, return to 0 or -1.
read(): read one byte of data in receive buffer
readString(): read string in receive buffer
Class Server
Every time use Server functionality, we need to include header file"WiFi.h".
WiFiServer(uint16_t port=80, uint8_t max_clients=4): create a TCP Server.
port: ports of Server; range from 0 to 65535 with the default number as 80.
max_clients: maximum number of clients with default number as 4.
begin(port): start the TCP Server.
port: ports of Server; range from 0 to 65535 with the default number as 0.
setNoDelay(bool nodelay): whether to turn off the delay sending functionality.
nodelay: true stands for forbidden Nagle algorithm.
close(): close tcp connection.
stop(): stop tcp connection.

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 █ www.freenove.com Chapter 7 WiFi Car 129

7.2 WiFi Transmitting Images

Earlier we used the WiFi to transmit command. In this section, we use WiFi to transmit image data and display
the picture taken by the ESP32 car on the mobile APP.

Sketch

Open the folder “06.2_WiFi_Cam_TcpServer” in the “Freenove_4WD_Car_Kit_for_ESP32\Sketches” and

double click “06.2_WiFi_Cam_TcpServer.ino”.

Before uploading the code, please modify the name and password of Router. Other operation is the same as
Section 7.1.
Code
1 #include "esp_camera.h"
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
Please modify the name
5
and password of Router.
6 #define CAMERA_MODEL_WROVER_KIT
7 #include "camera_pins.h"
8
9 const char* ssid_Router = "********";//Modify according to your router name
10 const char* password_Router = "********";//Modify according to your router password
11 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it Sunshine
12 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to Sunshine
13
14 WiFiServer server_Cmd(4000);
15 WiFiServer server_Camera(7000);
16 extern TaskHandle_t loopTaskHandle;
17
18 void setup() {
19 Serial.begin(115200);
20 Serial.setDebugOutput(false);
21 Serial.println();
22 cameraSetup();
23
24 WiFi.softAP(ssid_AP, password_AP);
25 server_Camera.begin(7000);
26 server_Cmd.begin(4000);
27 /////////////////////////////////////////////////////
28 WiFi.begin(ssid_Router, password_Router);
29 Serial.print("Connecting ");
30 Serial.print(ssid_Router);

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130 Chapter 7 WiFi Car www.freenove.com █

31 int timeout=0;
32 while (WiFi.isConnected() != true) {
33 delay(500);
34 Serial.print(".");
35 WiFi.begin(ssid_Router, password_Router);
36 timeout++;
37 if(timeout>=10)
38 break;
39 }
40 Serial.println("");
41 Serial.println("WiFi connected");
42 /////////////////////////////////////////////////////
43 Serial.print("Camera Ready! Use '");
44 Serial.print(WiFi.softAPIP());
45 Serial.print(" or ");
46 Serial.print(WiFi.localIP());
47 Serial.println("' to connect in Freenove app.");
48
49 disableCore0WDT();
50 //loopTask_Cmd uses core 0.
51 xTaskCreateUniversal(loopTask_Cmd, "loopTask_Cmd", 8192, NULL, 1, &loopTaskHandle, 0);
52 }
53
54 //task loop uses core 1.
55 void loop() {
56 WiFiClient client = server_Camera.available();// listen for incoming clients
57 if (client) { // if you get a client,
58 Serial.println("Camera Server connected to a client.");
59 String currentLine = ""; // make a String to hold incoming data from the client
60 while (client.connected()) { // loop while the client's connected
61 camera_fb_t * fb = NULL;
62 while (client.connected()) {
63 fb = esp_camera_fb_get();
64 if (fb != NULL) {
65 uint8_t slen[4];
66 slen[0] = fb->len >> 0;
67 slen[1] = fb->len >> 8;
68 slen[2] = fb->len >> 16;
69 slen[3] = fb->len >> 24;
70 client.write(slen, 4);
71 client.write(fb->buf, fb->len);
72 esp_camera_fb_return(fb);
73 }
74 else {

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█ www.freenove.com Chapter 7 WiFi Car 131

75 Serial.println("Camera Error");
76 }
77 }
78 }
79 // close the connection:
80 client.stop();
81 Serial.println("Camera Client Disconnected.");
82 }
83 }
84
85 void loopTask_Cmd(void *pvParameters) {
86 Serial.println("Task Cmd_Server is starting ... ");
87 while (1) {
88 WiFiClient client = server_Cmd.available();//listen for incoming clients
89 if (client) //if you get a client,
90 {
91 Serial.println("Command Server connected to a client.");
92 while (client.connected()) {//loop while the client's connected
93 if (client.available()) { //if there's bytes to read from the client,
94 String dataBuffer = client.readStringUntil('\n') + String("\n");
95 Serial.print(dataBuffer);//print it out the serial monitor
96 }
97 }
98 client.stop();// close the connection:
99 Serial.println("Command Client Disconnected.");
100 }
101 }
102 }
103
104 void cameraSetup() {
105 camera_config_t config;
106 config.ledc_channel = LEDC_CHANNEL_0;
107 config.ledc_timer = LEDC_TIMER_0;
108 config.pin_d0 = Y2_GPIO_NUM;
109 config.pin_d1 = Y3_GPIO_NUM;
110 config.pin_d2 = Y4_GPIO_NUM;
111 config.pin_d3 = Y5_GPIO_NUM;
112 config.pin_d4 = Y6_GPIO_NUM;
113 config.pin_d5 = Y7_GPIO_NUM;
114 config.pin_d6 = Y8_GPIO_NUM;
115 config.pin_d7 = Y9_GPIO_NUM;
116 config.pin_xclk = XCLK_GPIO_NUM;
117 config.pin_pclk = PCLK_GPIO_NUM;
118 config.pin_vsync = VSYNC_GPIO_NUM;

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119 config.pin_href = HREF_GPIO_NUM;

120 config.pin_sscb_sda = SIOD_GPIO_NUM;
121 config.pin_sscb_scl = SIOC_GPIO_NUM;
122 config.pin_pwdn = PWDN_GPIO_NUM;
123 config.pin_reset = RESET_GPIO_NUM;
124 config.xclk_freq_hz = 20000000;
125 config.pixel_format = PIXFORMAT_JPEG;
126 config.frame_size = FRAMESIZE_VGA; //clear
127 // config.frame_size = FRAMESIZE_QVGA; //ordinary
128 // config.frame_size = FRAMESIZE_QQVGA; //concision
129 config.jpeg_quality = 10;
130 config.fb_count = 1;
131
132 // camera init
133 esp_err_t err = esp_camera_init(&config);
134 if (err != ESP_OK) {
135 Serial.printf("Camera init failed with error 0x%x", err);
136 return;
137 }
138 Serial.println("Camera configuration complete!");
139 }
Upload code to ESP32 car and open serial monitor.

Upload code Open serial monitor

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 █ www.freenove.com Chapter 7 WiFi Car 133

If you do not have a router nearby, please If your mobile phone and ESP32 car are
connect your phone to a router named connected to the same router, please refer
"Sunshine", and the password is also to this IP address.
"Sunshine", please refer to this IP address.

Open mobile APP and select Freenove 4WD Car for ESP32.

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134 Chapter 7 WiFi Car www.freenove.com █

Make sure your mobile phone and ESP32 car are connected to the same router. According to the
aforementioned IP address, enter the corresponding IP address, and then click Connect. Tap the button on
the screen and you can see the data on the serial monitor.

Connection

Enter the IP address

Vedio

Code Explanation:
Before using camera, please add two header files esp_camera.h and camera_pins.h .
1 #include "esp_camera.h"
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5
6 #define CAMERA_MODEL_WROVER_KIT
7 #include "camera_pins.h"

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 █ www.freenove.com Chapter 7 WiFi Car 135

Define four pointer variables to store information. Each time, before using, please modify name and password
of Router.
5 const char* ssid_Router = "********";//Modify according to your router name
6 const char* password_Router = "********";//Modify according to your router password
7 const char* ssid_AP = "Sunshine";//ESP32 turns on an AP and calls it Sunshine
8 const char* password_AP = "Sunshine";//Set your AP password for ESP32 to Sunshine
Camara initialization function that assign pins to camera and sets the camera clock frequency, picture quality,
picture size and other information.
103 void cameraSetup() {
104 camera_config_t config;
105 config.ledc_channel = LEDC_CHANNEL_0;
106 config.ledc_timer = LEDC_TIMER_0;
107 config.pin_d0 = Y2_GPIO_NUM;
108 config.pin_d1 = Y3_GPIO_NUM;
109 config.pin_d2 = Y4_GPIO_NUM;
110 config.pin_d3 = Y5_GPIO_NUM;
111 config.pin_d4 = Y6_GPIO_NUM;
112 config.pin_d5 = Y7_GPIO_NUM;
113 config.pin_d6 = Y8_GPIO_NUM;
114 config.pin_d7 = Y9_GPIO_NUM;
115 config.pin_xclk = XCLK_GPIO_NUM;
116 config.pin_pclk = PCLK_GPIO_NUM;
117 config.pin_vsync = VSYNC_GPIO_NUM;
118 config.pin_href = HREF_GPIO_NUM;
119 config.pin_sscb_sda = SIOD_GPIO_NUM;
120 config.pin_sscb_scl = SIOC_GPIO_NUM;
121 config.pin_pwdn = PWDN_GPIO_NUM;
122 config.pin_reset = RESET_GPIO_NUM;
123 config.xclk_freq_hz = 20000000; Set frame_size. VGA, QVGA, and
124 config.pixel_format = PIXFORMAT_JPEG; QQVGA correspond to different
125 config.frame_size = FRAMESIZE_VGA; //clear definitions of the pictures.
126 // config.frame_size = FRAMESIZE_QVGA; //ordinary
127 // config.frame_size = FRAMESIZE_QQVGA; //concision
128 config.jpeg_quality = 10;
129 config.fb_count = 1;
130 esp_err_t err = esp_camera_init(&config); // camera init
131 if (err != ESP_OK) {
132 Serial.printf("Camera init failed with error 0x%x", err);
133 return;
134 }
135 Serial.println("Camera configuration complete!");
136 }

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ESP32 is a dual-core processor, which can handle different things at the same time. Usually the loop function
of ESP32 runs in the first core area. In this code, we make the command processing run in the 0th core area
and the camera data processing in the first core area. Call the disableCore0WDT() function to turn off the
watchdog in the 0th core area to avoid program reset caused by the watchdog. Call the xTaskCreateUniversal
function to apply to create a task function and let the task function run in the 0th core area.
49 disableCore0WDT();
50 //loopTask_Cmd uses core 0.
51 xTaskCreateUniversal(loopTask_Cmd, "loopTask_Cmd", 8192, NULL, 1, &loopTaskHandle, 0);
Define a camera image data storage object to store image data.
61 camera_fb_t * fb = NULL;
Call the esp_camera_fb_get() function to get the image data and store it in fb. Call the write() function to send
the data to the mobile app.
63 fb = esp_camera_fb_get();
64 if (fb != NULL) {
65 uint8_t slen[4];
66 slen[0] = fb->len >> 0;
67 slen[1] = fb->len >> 8;
68 slen[2] = fb->len >> 16;
69 slen[3] = fb->len >> 24;
70 client.write(slen, 4);
71 client.write(fb->buf, fb->len);
72 esp_camera_fb_return(fb);
73 }
Reference
Image resolution Sharpness Image resolution Sharpness
FRAMESIZE_QQVGA 160x120 FRAMESIZE_VGA 640x480
FRAMESIZE_QQVGA2 128x160 FRAMESIZE_SVGA 800x600
FRAMESIZE_QCIF 176x144 FRAMESIZE_XGA 1024x768
FRAMESIZE_HQVGA 240x176 FRAMESIZE_SXGA 1280x1024
FRAMESIZE_QVGA 320x240 FRAMESIZE_UXGA 1600x1200
FRAMESIZE_CIF 400x296 FRAMESIZE_QXGA 2048x1536

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 █ www.freenove.com Chapter 7 WiFi Car 137

7.3 WiFi Video Car by APP

In this section, we will combine image transmission with controlling the car. You can control the ESP32 car
through mobile APP while observing the images that the camera transmits.

Sketch

Open the folder “06.3_Multi_Functional_Car” in Freenove_4WD_Car_Kit_for_ESP32\Sketches and double click

“06.3_Multi_Functional_Car.ino”.
Before compiling the code, please modify the code according to the name and password of your WiFi.
If you want to enable ESP32's own router functionality, WiFi_Setup(1); If you want ESP32 to connect to the
router, WiFi_Setup(0).
Code
1 #include <Arduino.h>
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5 #include "esp_camera.h"
6 #include "Freenove_4WD_Car_WiFi.h"
7 #include "Freenove_4WD_Car_Emotion.h"
8 #include "Freenove_4WD_Car_WS2812.h"
9 #include "Freenove_4WD_Car_For_ESP32.h"
10
11 String CmdArray[8];
12 int paramters[8];
13 bool videoFlag = 0; Please modify the name
14 and password of Router.
15 void WiFi_Init(){
16 ssid_Router = "********"; //Modify according to your router name
17 password_Router = "********"; //Modify according to your router password
18 ssid_AP = "Sunshine"; //ESP32 turns on an AP and calls it Sunshine
19 password_AP = "Sunshine"; //Set your AP password for ESP32 to Sunshine
20 frame_size = FRAMESIZE_CIF;//400*296
21 }
22
23 WiFiServer server_Cmd(4000);
24 WiFiServer server_Camera(7000);
25
26 void setup(){
27 Buzzer_Setup(); //Buzzer initialization
28 Serial.begin(115200);
29 Serial.setDebugOutput(true);
30 WiFi_Init(); //WiFi paramters initialization

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31 WiFi_Setup(1); //Start AP Mode

32 server_Camera.begin(7000);//Turn on the camera server
33 server_Cmd.begin(4000); //Start the command server
34
35 cameraSetup(); //Camera initialization
36 Emotion_Setup(); //Emotion initialization
37 WS2812_Setup(); //WS2812 initialization
38 PCA9685_Setup(); //PCA9685 initialization
39 Light_Setup(); //Light initialization
40 Track_Setup(); //Track initialization
41
42 disableCore0WDT(); //Turn off the watchdog function in kernel 0
43 xTaskCreateUniversal(loopTask_Camera, "loopTask_Camera", 8192, NULL, 0, NULL, 0);
44 xTaskCreateUniversal(loopTask_WTD, "loopTask_WTD", 8192, NULL, 0, NULL, 0);
45 }
46
47 void loop() {
48 WiFiClient client = server_Cmd.available();//listen for incoming clients
49 if (client) { //if you get a client
50 Serial.println("Cmd_Server connected to a client.");
51 while (client.connected()) { //loop while the client's connected
52 if (client.available()) { //if there's bytes to read from the client
53 String inputStringTemp = client.readStringUntil('\n');//Read the command by WiFi
54 Serial.println(inputStringTemp); //Print out the command received by WiFi
55 Get_Command(inputStringTemp);
56
57 if (CmdArray[0] == CMD_LED_MOD)//Set the display mode of car colored lights
58 WS2812_SetMode(paramters[1]);
59 if (CmdArray[0] == CMD_LED) //Set the color and brightness of the car lights
60 WS2812_Set_Color_1(paramters[1], paramters[3], paramters[2], paramters[4]);
61 if (CmdArray[0] == CMD_MATRIX_MOD)//Set the display mode of the LED matrix
62 Emotion_SetMode(paramters[1]);
63 if (CmdArray[0] == CMD_VIDEO)//Video transmission command
64 videoFlag = paramters[1];
65 if (CmdArray[0] == CMD_BUZZER) //Buzzer control command
66 Buzzer_Variable(paramters[1], paramters[2]);
67 if (CmdArray[0] == CMD_POWER) {//Power query command
68 float battery_voltage = Get_Battery_Voltage();
69 client.print(CMD_POWER);
70 client.print(INTERVAL_CHAR);
71 client.print(battery_voltage);
72 client.print(ENTER);
73 }
74 if (CmdArray[0] == CMD_MOTOR) {//Network control car movement command

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75 Car_SetMode(0);
76 if (paramters[1] == 0 && paramters[3] == 0)
77 Motor_Move(0, 0, 0, 0);//Stop the car
78 else //If the parameters are not equal to 0
79 Motor_Move(paramters[1], paramters[1], paramters[3], paramters[3]);
80 }
81 if (CmdArray[0] == CMD_SERVO) {//Network control servo motor movement command
82 if (paramters[1] == 0)
83 Servo_1_Angle(paramters[2]);
84 else if (paramters[1] == 1)
85 Servo_2_Angle(paramters[2]);
86 }
87 if (CmdArray[0] == CMD_CAMERA) {//Network control servo motor movement command
88 Servo_1_Angle(paramters[1]);
89 Servo_2_Angle(paramters[2]);
90 }
91 if (CmdArray[0] == CMD_LIGHT) { //Light seeking car command
92 if (paramters[1] == 1)
93 Car_SetMode(1);
94 else if (paramters[1] == 0)
95 Car_SetMode(0);
96 }
97 else if (CmdArray[0] == CMD_TRACK) { //Tracking car command
98 if (paramters[1] == 1)
99 Car_SetMode(2);
100 else if (paramters[1] == 0)
101 Car_SetMode(0);
102 }
103 if (CmdArray[0] == CMD_CAR_MODE) { //Car command Mode
104 Car_SetMode(paramters[1]);
105 }
106 //Clears the command array and parameter array
107 memset(CmdArray, 0, sizeof(CmdArray));
108 memset(paramters, 0, sizeof(paramters));
109 }
110 Emotion_Show(emotion_task_mode);//Led matrix display function
111 WS2812_Show(ws2812_task_mode);//Car color lights display function
112 Car_Select(carFlag);//ESP32 Car mode selection function
113 }
114 client.stop();//close the connection:
115 Serial.println("Command Client Disconnected.");
116 ESP.restart();
117 }
118 }

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119 void loopTask_Camera(void *pvParameters) {

120 while (1) {
121 WiFiClient client = server_Camera.available();//listen for incoming clients
122 if (client) {//if you get a client
123 Serial.println("Camera_Server connected to a client.");
124 if (client.connected()) {
125 camera_fb_t * fb = NULL;
126 while (client.connected()) {//loop while the client's connected
127 if (videoFlag == 1) {
128 fb = esp_camera_fb_get();
129 if (fb != NULL) {
130 uint8_t slen[4];
131 slen[0] = fb->len >> 0;
132 slen[1] = fb->len >> 8;
133 slen[2] = fb->len >> 16;
134 slen[3] = fb->len >> 24;
135 client.write(slen, 4);
136 client.write(fb->buf, fb->len);
137 Serial.println("Camera send");
138 esp_camera_fb_return(fb);
139 }
140 }
141 }
142 //close the connection:
143 client.stop();
144 Serial.println("Camera Client Disconnected.");
145 ESP.restart();
146 }
147 }
148 }
149 }
150 void Get_Command(String inputStringTemp){
151 int string_length = inputStringTemp.length();
152 for (int i = 0; i < 8; i++) {//Parse the command received by WiFi
153 int index = inputStringTemp.indexOf(INTERVAL_CHAR);
154 if (index < 0) {
155 if (string_length > 0) {
156 CmdArray[i] = inputStringTemp; //Get command
157 paramters[i] = inputStringTemp.toInt();//Get parameters
158 }
159 break;
160 }
161 else {
162 string_length -= index; //Count the remaining words

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163 CmdArray[i] = inputStringTemp.substring(0, index); //Get command

164 paramters[i] = CmdArray[i].toInt(); //Get parameters
165 inputStringTemp = inputStringTemp.substring(index + 1);//Update string
166 }
167 }
168 }
Code Explanation:
Add the driver headr files of the car.
The three header files starting with "WiFi" contain the WiFi driver configuration function of ESP32.
The esp_camera.h file contains the control function of ESP32 camera.
Freenove_4WD_Car_WiFi.h contains the command information when WiFi transmits signal and the ESP32 pin
configuration of the camera.
Freenove_4WD_Car_Emotion.h contains the driver configuration function of the LED matrix module.
Freenove_4WD_Car_WS2812.h contains the driver configuration function of the RGB LEDs.
Freenove_4WD_Car_For_ESP32.h contains the driver configuration function of the car.
1 #include <Arduino.h>
2 #include <WiFi.h>
3 #include <WiFiClient.h>
4 #include <WiFiAP.h>
5 #include "esp_camera.h"
6 #include "Freenove_4WD_Car_WiFi.h"
7 #include "Freenove_4WD_Car_Emotion.h"
8 #include "Freenove_4WD_Car_WS2812.h"
9 #include "Freenove_4WD_Car_For_ESP32.h"
Before you upload the code each time, you can change the ssid_Router and password_Router below based
on your WiFi name and password. The program uses AP mode by default. ESP32 will create a WiFi called
"Sunshine" based on the WiFi configuration.
Note: "Sunshine" is not connected to the Internet. So if you choose to connect to it, your phone will be
disconnected from the Internet. “frame_size” is used to configure the pixel size of the camera. If you don’t
know its parameters, you can click here.
16 ssid_Router = "********"; //Modify according to your router name
17 password_Router = "********"; //Modify according to your router password
18 ssid_AP = "Sunshine"; //ESP32 turns on an AP and calls it Sunshine
19 password_AP = "Sunshine"; //Set your AP password for ESP32 to Sunshine
20 frame_size = FRAMESIZE_CIF;//400*296
Turn ON two TCP server ports. Port 4000 is used to receive the command from the car and port 7000 is to
receive the image data collected by camera.
23 WiFiServer server_Cmd(4000);
24 WiFiServer server_Camera(7000);
Call the WiFi_Init() to initialize the WiFi parameters. Call the WiFi_Setup() to initialize the ESP32’s WiFi.
AP mode starts when the WiFi_Setup parameter is 1. When the parameter WiFi_Setup is 0, the STA mode is
started. After ESP32 starts WIFI, it prints the IP information to the serial monitor.
30 WiFi_Init(); //WiFi paramters initialization
31 WiFi_Setup(1); //Start AP Mode

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Initialize the car's buzzer, LED matrix module, RGB LEDs, WiFi, camera, motor motor, servo, photoresistor and
line tracking modules.
26 void setup(){
27 Buzzer_Setup(); //Buzzer initialization
28 Serial.begin(115200);
29 Serial.setDebugOutput(true);
30 WiFi_Init(); //WiFi paramters initialization
31 WiFi_Setup(); //WiFi initialization
32 server_Camera.begin(7000);//Turn on the camera server
33 server_Cmd.begin(4000); //Start the command server
34
35 cameraSetup(); //Camera initialization
36 Emotion_Setup(); //Emotion initialization
37 WS2812_Setup(); //WS2812 initialization
38 PCA9685_Setup(); //PCA9685 initialization
39 Light_Setup(); //Light initialization
40 Track_Setup(); //Track initialization
41
42 disableCore0WDT(); //Turn off the watchdog function in kernel 0
43 xTaskCreateUniversal(loopTask_Camera, "loopTask_Camera", 8192, NULL, 0, NULL, 0);
44 xTaskCreateUniversal(loopTask_WTD, "loopTask_WTD", 8192, NULL, 0, NULL, 0);
45 }
Monitor TCP server port 4000. If a client connects to this port, ESP32 will print prompt messages of WiFi
connection on the serial port. After the client connects to this port, it receives information from the client until
the client disconnects. When ESP32 detects that the client is disconnected, it closes the TCP connection and
prints a WiFi disconnect prompt message.
45 WiFiClient client = server_Cmd.available();//listen for incoming clients
46 if (client) {//if you get a client
47 Serial.println("Cmd_Server connected to a client.");
48 while (client.connected()) {//loop while the client's connected
… …
114 }
115 client.stop();//close the connection:
116 Serial.println("Command Client Disconnected.");
117 ESP.restart();
118 }
Get_Command(), the command parsing function. Every time this function is used, the command received by
TCP will be sent to this function through inputStringTemp, and the command and parameters will be parsed
and stored in the global variable array CmdArray and paramters.
149 void Get_Command(String inputStringTemp){
150 int string_length = inputStringTemp.length();
151 for (int i = 0; i < 8; i++) {//Parse the command received by WiFi
152 int index = inputStringTemp.indexOf(INTERVAL_CHAR);
153 if (index < 0) {

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154 if (string_length > 0) {

155 CmdArray[i] = inputStringTemp; //Get command
156 paramters[i] = inputStringTemp.toInt();//Get parameters
157 }
158 break;
159 }
160 else {
161 string_length -= index; //Count the remaining words
162 CmdArray[i] = inputStringTemp.substring(0, index); //Get command
163 paramters[i] = CmdArray[i].toInt(); //Get parameters
164 inputStringTemp = inputStringTemp.substring(index + 1);//Update string
165 }
166 }
167 }
Judge the client's data and use different functions of the car according to different commands.
57 if (CmdArray[0] == CMD_LED_MOD)//Set the display mode of car colored lights
… …
59 if (CmdArray[0] == CMD_LED) {//Set the color and brightness of the car lights
… …
61 if (CmdArray[0] == CMD_MATRIX_MOD)//Set the display mode of the LED matrix
… …
63 if (CmdArray[0] == CMD_VIDEO)//Video transmission command
… …
65 if(CmdArray[0] == CMD_BUZZER)//Buzzer control command
… …
74 if (CmdArray[0] == CMD_POWER) {//Power query command
… …
81 if (CmdArray[0] == CMD_MOTOR) {//Network control car movement command
… …
87 if (CmdArray[0] == CMD_SERVO) {//Network control servo motor movement command
… …
91 if(CmdArray[0] == CMD_LIGHT) {//Light seeking car command
… …
97 if(CmdArray[0] == CMD_TRACK) {//Tracking car command
… …
103 if (CmdArray[0] == CMD_CAR_MODE) { //Car command Mode
… …
The following three functions run in a non-blocking manner. Call the Emotion_Show() function to control the
LED matrix, call the WS2812_Show() function to control the RGB LEDs of the car, and call the Car_Select()
function to control the mode of the car.
100 Emotion_Show(emotion_task_mode);//Led matrix display function
101 WS2812_Show(ws2812_task_mode);//Car color lights display function
102 Car_Select(carFlag);//ESP32 Car mode selection function
The camera thread callback function. Each time a connection is established with the client, if a video

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transmission command (videoFlag=1) is received, the image will be obtained and sent to the client.
119 void loopTask_Camera(void *pvParameters) {
120 while (1) {
121 WiFiClient client = server_Camera.available();//listen for incoming clients
122 if (client) {//if you get a client
123 Serial.println("Camera_Server connected to a client.");
124 if (client.connected()) {
125 camera_fb_t * fb = NULL;
126 while (client.connected()) {//loop while the client's connected
127 if (videoFlag == 1) {
128 fb = esp_camera_fb_get();
129 if (fb != NULL) {
130 uint8_t slen[4];
131 slen[0] = fb->len >> 0;
132 slen[1] = fb->len >> 8;
133 slen[2] = fb->len >> 16;
134 slen[3] = fb->len >> 24;
135 client.write(slen, 4);
136 client.write(fb->buf, fb->len);
137 Serial.println("Camera send");
138 esp_camera_fb_return(fb);
139 }
140 }
141 }
142 //close the connection:
143 client.stop();
144 Serial.println("Camera Client Disconnected.");
145 ESP.restart();
146 }
147 }
148 }
149 }

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7.4 WiFi Video Car by PC

In addition to using a mobile phone to control the WiFi video car, we also provide users with a host computer
to control the car. In this chapter, the car still uses the code in section 7.3

Run client on windows system

There are two ways to run client on Windows.

Option 1 Run the executable file directly.
Open main.exe in Freenove_4WD_Car_Kit_for_ESP32\TCP\Application.

The interface of client is as follows:

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The function of the client is as follows ：

Video display GUI Light/Track Car Mode

RGB Select

Color of RGB LEDs

RGB color mode

Emotion of LED matrix

Rotate Left 90° Rotate Reset Rotate Right 90°

Servo calibration

IP address TCP connect Video Servo control

Servo slider

Battery level

Direction of the car

According to the prompt message printed on the ESP32 serial monitor, enter the IP address into "IP Address"
and click "Connect", and you can control the ESP32 car through this client

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Option 2 Install python3and some related python libraries to run client.

If you want to modify the client, please following this section.
Install python3
Download and install Python3 package.
https://www.python.org/downloads/windows/

Select Python3.8.1.

Click Windows x86 executable installerto download. After downloading, click to install.

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Please note that “Add Python 3.8 to PATH” MUST be check.

Check all the options and then click “Next”.

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Here you can select the installation path of Python. We install it at D drive. If you are a novice, you can select
the default path.

Wait for it to finish installing.

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Now the installation is finished.

Install PyQt5、opencv、numpy and other libraries.

Press “Ctrl” and “R” on the keyboard at the same time will pop up a window.

Enter cmd in the pop-up window and click “OK”.

Use the command to enter the storage location of Freenove_4WD_Car_Kit_for_ESP32. Here we assume it is
saved in D drive.

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The address depends on where you saved Freenove_4WD_Car_Kit_for_ESP32. You need to modify it based
on your own storage location.
1. Input “D:”, press enter to enter D drive, and then input “cd D:\Freenove_4WD_Car_Kit_for_ESP32\TCP”,
press enter to enter the folder.

2. Input “Python setup_windows.py” and press enter. If it fails, you can input “Python3 setup_windows.py” to
try again.

3. Wait for it to finish installing and press any key according to the prompt. When it displays “All libraries
installed successfully”, it indicates the environment is installed successfully.

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If not all libraries are installed successfully, it will prompt "Some libraries have not been installed. Please run
Python3 setup_windows.py again', and then you need to enter and execute the command again. Most
installation failures are caused by poor networks. You can Check your network before installation.

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Run main.py
1. Input “D:”, press enter to enter D drive and then input “cd D:\Freenove_4WD_Car_Kit_for_ESP32\TCP”,
press enter to enter the folder.

2. Input “Python main.py” and press enter. If it fails, you can input 入“Python3 main.py” to try again.

After the program is run, you can control the car through this window.
If you want to modify the code, you can modify the files in TCP folder.
Control the car with keyboard
The car can be controlled by clicking the client. And it can also be controlled by pressing keys on your
keyboard.

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The following is the corresponding operation of the buttons and keys.

Button on Client Key Action
ForWard W Move
BackWard S Back off
Turn Left A Turn left
Turn Right D Turn right
Left left arrow Turn camera left
Right right arrow Turn camera right
Up up arrow Turn camera up
Down down arrow Turn camera down
Home Home Turn camera back Home
Connect/ Disconnect C On/off Connection
Open Video/ Close Video V On/off Video
Buzzer Space On/off Buzzer
Led_Mode 1,2,3,4 L Switch RGB Led Mode
Matrix_Mode 1,2,3,4 K Switch Matrix Mode
Matrix_Static Mode J Switch Matrix Static Mode
Light Car Mode R On/off Light Car Mode
Track Car Mode T On/off Track Car Mode
The function of SliderBar is below:
SliderBar Function
Servo 1,2 SliderBar Servo 1, 2 are used to slightly adjust the
angle. If the servo is not fully centered during
installation, you can slightly tune it via the SliderBar.
Other control information:
Control Function
IP address Edit box Enter IP address of ESP32.
Power box Show power level.
N,R,G,B Edit box Control the color of LED selected.
Button “Light On/Off” Turn on the light seeking function of the car. If WiFi is
disconnected, the car will stop moving.
Button “Track On/Off” Turn on the tracking function of the car. If WiFi is
disconnected, the car will stop moving.
Left-90° Rotate the received video 90° to the left to display.
Origin-0° Restores the received video to its original display.
Right-90° Rotate the received video 90° to the right to display.

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Run client on macOS system

Here we take MacOS 10.13as an example. To run client on MacOS, you need to install some software and
libraries. MacOS 10.13 comes with python2 but not python3. However, the projects in this program need to
be run with python3, so you need to install it first.

Install python3
Download installation package, link: https://www.python.org/downloads/
Click Python 3.8.2.

At the bottom of the page, click macOS 64-bit installer and download installation package.

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Click Continue.

Click Continue

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Click Agree.

Click Install. If your computer has a password, enter the password and Install Software.

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Now the installation succeeds.

You can find it in Applications.

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Install PyQt5、opencv、numpy and other libraries

If you have not yet download the code of ESP32 car to your macOS, you can download it from the following
link: https://github.com/Freenove/Freenove_4WD_Car_Kit_for_ESP32.git
After downloading, you can find it in Downloads of Macintosh HD.
Open Terminal.

Enter the following commands in Terminal

1. Enter “Downloads”(where the code locates). If your code locates in a different path, you need to enter
the location of your code.
cd Downloads
2. Enter the directory where setup_mac.py locates
cd Freenove_4WD_Car_Kit_for_ESP32/TCP

3. Run setup_macos.py:
python3 setup_macos.py
The installation takes some time. Please wait with patience. When installs successfully, it will print "All libraries
installed successfully":

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Note: If not all libraries are installed successfully, it will prompt “Some libraries have not been installed”.
Please input and run Python3 setup_macos.py again. Most installation failures are caused by poor networks.
You can Check your network before installation
Run main.py
Following the previous steps, after the installation is complete, you are now in the directory where
setup_mac.py is located. (Freenove_4WD_Car_Kit_for_ESP32/TCP)

Enter the following command to run main.py.

python3 main.py

The control way of macOS System client is same with Windows (Control).

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What's next?
Thank you again for choosing Freenove products.

THANK YOU for participating in this learning experience!

We have reached the end of this Tutorial. If you find errors, omissions or you have suggestions and/or
questions about the Tutorial or component contents of this Kit, please feel free to contact us:
support@freenove.com

We will make every effort to make changes and correct errors as soon as feasibly possible and publish a
revised version.

If you want to learn more about Arduino, ESP32, Raspberry Pi, Smart Cars, Robotics and other interesting
products in science and technology, please continue to visit our website. We will continue to launch fun, cost
effective, innovative and exciting products.
http://www.freenove.com/

Thank you again for choosing Freenove products.

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