ESP32 C++ Code for Controlling Robot Arm

We need the following items.

• Arduino IDE
• Node32MCU ESP32 Board

Environment Settings

Windows Driver for ESP32

1. Download the CP210x Universal Windows Driver.
2. Unzip the compressed file.
3. Right-click the silabser.inf and select "install".

Arduino IDE

1. Install Arduino IDE.

2. Open File > Preferences > Settings > Additional boards manager URLs, and then enter the following URL:

   https://dl.espressif.com/dl/package_esp32_index.json

   Finally, click OK.

3. Open Tools > Board > Boards Manager, and then install esp32 made by Espressif Systems.

4. Open Tools > Manage Libraries, and then install the following libraries.

   • PID made by Brett Beauregard
   • ArduinoJson made by Benoit Blanchon
   • ESP32Servo 0.13.0 made by Kevin Harrington, John K. Bennett
   • ESP32Encoder 0.9.1 made by Kevin Harrington
   • EspSoftwareSerial 8.0.1 made by Dirk Kaar, Peter Lerup
   • Adafruit-PWM-Servo-Driver-Library made by Adafruit

Code Definition and Features

The Maximum and Minimum Servo Angles

We've defined the max. and min. angles for servos at the following code.

const uint8_t servoMinAngles[] = {0, 0, 0, 0, 0};
const uint8_t servoMaxAngles[] = {180, 120, 160, 180, 70};

Initial Pose

The initial pose is defined via the following code.

void setup() {
    // ...
    // Create the arm control task
    for (uint8_t i = 0; i < NUM_OF_SERVOS; i++) {
        currentAngles[i] = (float) servoMinAngles[i];
        switch (i) {
            case 0:
                targetAngles[0] = 90;
                break;
            case 1:
                targetAngles[1] = 0;
                break;
            case 2:
                targetAngles[2] = 160;
                break;
            case 3:
                targetAngles[3] = 50;
                break;
            case 4:
                targetAngles[4] = 10;
                break;
            default:
                break;
        }
    }
    // ...
}