ESP32 Motor Controller & Sensor Data Acquisition
Note: SW should be superseded by MicroROS
The ESP32 sub-module is crucial to expanding the capabilities of the AGV. GPIO on the Jetson Nano is limited, especially when it comes to IO like UART and PWM. By having a UART connection with the Jetson Nano, the ESP32 can receive serial commands and perform tasks on behalf of the Jetson. This design also improves the real-time constraints of time sensitive tasks and reduces the work load on the Jetson.
| ESP | ESP | ||
|---|---|---|---|
| 3V3 | GND | ||
| EN | GPIO23 | left servo | |
| GPIO36 | GPIO22 | right servo | |
| GPIO39 | TX | ||
| GPIO34 | RX | ||
| GPIO35 | GPIO21 | motor pwm | |
| GPIO32 | GND | ||
| GPIO33 | GPIO19 | motor fwd | |
| Encoder B | GPIO25 | GPIO18 | motor bck |
| Encoder A | GPIO26 | GPIO5 | |
| GPIO27 | GPIO17 | Jetson 10(RX) | |
| GPIO14 | GPIO16 | Jetson 8(TX) | |
| GPIO12 | GPIO4 | ||
| GND | GPIO0 | ||
| GPIO13 | GPIO2 | ||
| NC | GPIO9 | GPIO15 | |
| NC | GPIO10 | GPIO8 | |
| GPIO11 | GPIO7 | ||
| 5V | VIN | GPIO6 |