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--- iothings:proiecte:2022:proiect_costin_vasile [2023/01/19 22:19]
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+++ iothings:proiecte:2022:proiect_costin_vasile [2023/01/19 23:59] (current)
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 ====== WiFi-controlled surveillance system ======
 **Student: ** Costin-Emanuel Vasile (ACES)
+All the materials, including the source code and presentation, are [[https://drive.google.com/file/d/151IeY4q_suLt7SAYGVkuXzN0IbmFm5n2/view?usp=sharing|here]]
 ===== 1. Project overview =====
@@ Line 99: / Line 101: @@
       xhr.send();
     }
+</code>
+== Camera server ==
+For the server configuration I declared and registered a new URI handler as follows:
+<code cpp>
+    httpd_uri_t direction_index_uri = {
+        .uri       = "/",
+        .method    = HTTP_POST,
+        .handler   = direction_index_handler,
+        .user_ctx  = NULL
+    };
+    httpd_register_uri_handler(camera_httpd, &direction_index_uri);
+</code>
+The handler registers the following function used to answer to the requests:
+<code cpp>
+static esp_err_t direction_index_handler(httpd_req_t *req){
+    char*  buf;
+    size_t buf_len;
+    char dir[32] = {0,};
+    buf_len = httpd_req_get_url_query_len(req) + 1;
+    if (buf_len > 1) {
+        buf = (char*)malloc(buf_len);
+        if(!buf){
+            httpd_resp_send_500(req);
+            return ESP_FAIL;
+        }
+        if (httpd_req_get_url_query_str(req, buf, buf_len) == ESP_OK) {
+            if (httpd_query_key_value(buf, "direction", dir, sizeof(dir)) == ESP_OK) {
+            } else {
+                free(buf);
+                httpd_resp_send_404(req);
+                return ESP_FAIL;
+            }
+        } else {
+            free(buf);
+            httpd_resp_send_404(req);
+            return ESP_FAIL;
+        }
+        free(buf);
+    }
+    Serial.print("New movement request: "); Serial.println(dir);
+    drive(dir);
+    return ESP_OK;
+}
+</code>
+The function above calls the method below which I implemented to drive the motors using the H-bridge module. It sends a PWM signal to the module by calling the built-in Arduino method called ledcWrite.
+The pin used to control each side of the H-bridge was mapped to a different PWM output of the ESP32-CAM board. This PWM output represents the first argument of the ledcWrite function, the second being the duty-cycle (where 0 means 0% and 255 means 100% duty-cycle).
+<code cpp>
+void drive(char* dir){
+        ledcWrite(0, 0);
+        ledcWrite(1, 0);
+        ledcWrite(2, 0);
+        ledcWrite(3, 0);
+    if(strcmp(dir, "right") == 0){
+        ledcWrite(0, 150);
+        ledcWrite(1, 0);
+        ledcWrite(2, 150);
+        ledcWrite(3, 0);
+    }
+    else if(strcmp(dir, "left") == 0){
+        ledcWrite(0, 0);
+        ledcWrite(1, 150);
+        ledcWrite(2, 0);
+        ledcWrite(3, 150);
+    }
+    else if(strcmp(dir, "back") == 0) {
+        ledcWrite(0, 0);
+        ledcWrite(1, 170);
+        ledcWrite(2, 170);
+        ledcWrite(3, 0);
+    }
+    else if(strcmp(dir, "front") == 0) {
+        ledcWrite(0, 170);
+        ledcWrite(1, 0);
+        ledcWrite(2, 0);
+        ledcWrite(3, 170);
+    }
+}
 </code>
 ===== 4. Results and demonstration =====
-TODO
+I uploaded a demonstrative video [[https://www.youtube.com/shorts/r5RtWcMs1yU|here]].
+Below are some images with the final prototype of the car.
+== Front view ==
+{{ :iothings:proiecte:2022:front_costin.jpeg?300 |}}
+== Side view ==
+{{ :iothings:proiecte:2022:side_costin.jpeg?300 |}}
+== Back view ==
+{{ :iothings:proiecte:2022:back_costin.jpeg?300 |}}
+== Bottom view ==
+{{ :iothings:proiecte:2022:below_view_costin.jpeg?300 |}}
+== Web platform ==
+{{ :iothings:proiecte:2022:web_platform_costin.png?300 |}}
+===== 5. Resources =====
+[[https://github.com/easytarget/esp32-cam-webserver]]
+[[https://github.com/espressif/arduino-esp32/tree/master/libraries/ESP32/examples/Camera/CameraWebServer]]
+[[https://randomnerdtutorials.com/esp32-cam-car-robot-web-server/]]
+[[https://www.optimusdigital.ro/ro/]]