ESP32 PD Line Following Robot with Maker Line

Introduction

Last week I have shared Raspberry Pi Line Following Robot with Maker Line tutorial. This time I would like to try another 3.3V controller which is ESP32. Plus, instead of using digital pins, I will use analog signal from Maker Line and implement simple PD (proportional and derivative) technique to control mobile robot. Before we start, I recommend you to understand the basic of line following robot. You can refer to this tutorial:

• Building a Low-Cost Line Following Robot

Video

This video is about ESP32 PD line following robot with Maker Line sensor.

Hardware Preparation

This is the list of items used in the video.

Wiring connection table.

18650 BATTERY	CHARGER MODULE	MAKER DRIVE	DC MOTOR	NODE32 LITE	MAKER LINE
Positive	B+
Negative	B-
	OUT+	VB+
	OUT-	VB-
		M1A Terminal	Left Motor
		M1B Terminal	Left Motor
		M2A Terminal	Right Motor
		M2B Terminal	Right Motor
		5V		RAW
		GND		GND	GND
		M1A Pin		GPIO33
		M1B Pin		GPIO25
		M2A Pin		GPIO26
		M2B Pin		GPIO27
				3.3V	VCC
				GPIO36	AN

Sample Program

This is Arduino sample code for ESP32 PD line following robot with Maker Line. Please install ESP32 package in order to upload this code into your board. You may need to tune the gain (try and error) based on your hardware.

Thank You

References:

1. ESP32 Pinout References
2. Maker Line Datasheet
3. Maker Drive Datasheet

Thanks for reading this tutorial. If you have any technical inquiry, please post at Cytron Technical Forum.