ESP32 CAM Robot

ESP32 CAM having WiFi and camera build in ,This development is best for Camera robot,Video is getting transmitted over WiFi and easy can be control.

Video

Circuit Diagram

Components List

• ESP32 CAM Board
• TB6612FNG Motor Drive
• DC-DC Converter
• 2 Motors with Wheels
• Robot Chassis

Code

Main file

#include "esp_wifi.h"
#include "esp_camera.h"
#include <WiFi.h>
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"


const char* ssid1 = "ESP32-CAM Robot";
const char* password1 = "1234567890";

extern volatile unsigned int  motor_speed;
extern void robo_stop();
extern void robo_setup();
extern uint8_t robo;
extern volatile unsigned long previous_time;        
extern volatile unsigned long move_interval; 

#define CAMERA_MODEL_AI_THINKER
#define PWDN_GPIO_NUM     32
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM      0
#define SIOD_GPIO_NUM     26
#define SIOC_GPIO_NUM     27

#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

void startCameraServer();

void setup() 
{
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); // prevent brownouts by silencing them
  
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  //init with high specs to pre-allocate larger buffers
  if(psramFound()){
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_QVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }

  // camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }

  //drop down frame size for higher initial frame rate
  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);

  /*
  int8_t power;
  esp_wifi_set_max_tx_power(20);
  esp_wifi_get_max_tx_power(&power);
  Serial.printf("wifi power: %d \n",power); 
  */
  WiFi.softAP(ssid1, password1);
  IPAddress myIP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(myIP);
  
  startCameraServer();

  ledcSetup(7, 5000, 8);
  ledcAttachPin(4, 7);  //pin4 is LED
  robo_setup();
  
  for (int i=0;i<5;i++) 
  {
    ledcWrite(7,10);  // flash led
    delay(50);
    ledcWrite(7,0);
    delay(50);    
  }
      
  previous_time = millis();
}

void loop() {
  if(robo)
  {
    unsigned long currentMillis = millis();
    if (currentMillis - previous_time >= move_interval) {
      previous_time = currentMillis;
      robo_stop();
      char rsp[32];
      sprintf(rsp,"SPPED: %d",motor_speed);
      Serial.println("Stop");
      robo=0;
    }
  }
  delay(1);
  yield();
}

HTTP File

#include "dl_lib_matrix3d.h"
#include <esp32-hal-ledc.h>
int speed = 255;  
int noStop = 0;
#include "esp_http_server.h"
#include "esp_timer.h"
#include "esp_camera.h"
#include "img_converters.h"
#include "Arduino.h"

#define LEFT_M_EN   12
#define LEFT_M0     15
#define LEFT_M1     14

#define RIGHT_M_EN  16
#define RIGHT_M0    13
#define RIGHT_M1    2

#define DRIVER_STBY 13

//Setting PWM properties
const int freq = 2000;
const int ledChannel = 8;
const int lresolution = 8;

volatile unsigned int  motor_speed   = 70;
volatile unsigned long previous_time = 0;        
volatile unsigned long move_interval = 250;  


void robo_setup();
void robo_stop();
void robo_fwd();
void robo_back();
void robo_left();
void robo_right();
uint8_t robo=0;


typedef struct {
        httpd_req_t *req;
        size_t len;
} jpg_chunking_t;

#define PART_BOUNDARY "123456789000000000000987654321"
static const char* _STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* _STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* _STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";

httpd_handle_t stream_httpd = NULL;
httpd_handle_t camera_httpd = NULL;

static size_t jpg_encode_stream(void * arg, size_t index, const void* data, size_t len){
    jpg_chunking_t *j = (jpg_chunking_t *)arg;
    if(!index){
        j->len = 0;
    }
    if(httpd_resp_send_chunk(j->req, (const char *)data, len) != ESP_OK){
        return 0;
    }
    j->len += len;
    return len;
}

static esp_err_t capture_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    int64_t fr_start = esp_timer_get_time();

    fb = esp_camera_fb_get();
    if (!fb) {
        Serial.println("Camera capture failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    httpd_resp_set_type(req, "image/jpeg");
    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.jpg");

    size_t out_len, out_width, out_height;
    uint8_t * out_buf;
    bool s;
    {
        size_t fb_len = 0;
        if(fb->format == PIXFORMAT_JPEG){
            fb_len = fb->len;
            res = httpd_resp_send(req, (const char *)fb->buf, fb->len);
        } else {
            jpg_chunking_t jchunk = {req, 0};
            res = frame2jpg_cb(fb, 80, jpg_encode_stream, &jchunk)?ESP_OK:ESP_FAIL;
            httpd_resp_send_chunk(req, NULL, 0);
            fb_len = jchunk.len;
        }
        esp_camera_fb_return(fb);
        int64_t fr_end = esp_timer_get_time();
        Serial.printf("JPG: %uB %ums\n", (uint32_t)(fb_len), (uint32_t)((fr_end - fr_start)/1000));
        return res;
    }

    dl_matrix3du_t *image_matrix = dl_matrix3du_alloc(1, fb->width, fb->height, 3);
    if (!image_matrix) {
        esp_camera_fb_return(fb);
        Serial.println("dl_matrix3du_alloc failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    out_buf = image_matrix->item;
    out_len = fb->width * fb->height * 3;
    out_width = fb->width;
    out_height = fb->height;

    s = fmt2rgb888(fb->buf, fb->len, fb->format, out_buf);
    esp_camera_fb_return(fb);
    if(!s){
        dl_matrix3du_free(image_matrix);
        Serial.println("to rgb888 failed");
        httpd_resp_send_500(req);
        return ESP_FAIL;
    }

    jpg_chunking_t jchunk = {req, 0};
    s = fmt2jpg_cb(out_buf, out_len, out_width, out_height, PIXFORMAT_RGB888, 90, jpg_encode_stream, &jchunk);
    dl_matrix3du_free(image_matrix);
    if(!s){
        Serial.println("JPEG compression failed");
        return ESP_FAIL;
    }

    int64_t fr_end = esp_timer_get_time();
    return res;
}

static esp_err_t stream_handler(httpd_req_t *req){
    camera_fb_t * fb = NULL;
    esp_err_t res = ESP_OK;
    size_t _jpg_buf_len = 0;
    uint8_t * _jpg_buf = NULL;
    char * part_buf[64];
    dl_matrix3du_t *image_matrix = NULL;

    static int64_t last_frame = 0;
    if(!last_frame) {
        last_frame = esp_timer_get_time();
    }

    res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);
    if(res != ESP_OK){
        return res;
    }

    while(true){
        fb = esp_camera_fb_get();
        if (!fb) {
            Serial.println("Camera capture failed");
            res = ESP_FAIL;
        } else {
             {
                if(fb->format != PIXFORMAT_JPEG){
                    bool jpeg_converted = frame2jpg(fb, 80, &_jpg_buf, &_jpg_buf_len);
                    esp_camera_fb_return(fb);
                    fb = NULL;
                    if(!jpeg_converted){
                        Serial.println("JPEG compression failed");
                        res = ESP_FAIL;
                    }
                } else {
                    _jpg_buf_len = fb->len;
                    _jpg_buf = fb->buf;
                }
            }
        }
        if(res == ESP_OK){
            size_t hlen = snprintf((char *)part_buf, 64, _STREAM_PART, _jpg_buf_len);
            res = httpd_resp_send_chunk(req, (const char *)part_buf, hlen);
        }
        if(res == ESP_OK){
            res = httpd_resp_send_chunk(req, (const char *)_jpg_buf, _jpg_buf_len);
        }
        if(res == ESP_OK){
            res = httpd_resp_send_chunk(req, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
        }
        if(fb){
            esp_camera_fb_return(fb);
            fb = NULL;
            _jpg_buf = NULL;
        } else if(_jpg_buf){
            free(_jpg_buf);
            _jpg_buf = NULL;
        }
        if(res != ESP_OK){
            break;
        }
        int64_t fr_end = esp_timer_get_time();
        int64_t frame_time = fr_end - last_frame;
        last_frame = fr_end;
        frame_time /= 1000;
        Serial.printf("MJPG: %uB %ums (%.1ffps)\n",
            (uint32_t)(_jpg_buf_len),
            (uint32_t)frame_time, 1000.0 / (uint32_t)frame_time           
        );
    }

    last_frame = 0;
    return res;
}

enum state {fwd,rev,stp};
state actstate = stp;

static esp_err_t cmd_handler(httpd_req_t *req)
{
    char*  buf;
    size_t buf_len;
    char variable[32] = {0,};
    char value[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, "var", variable, sizeof(variable)) == ESP_OK &&
                httpd_query_key_value(buf, "val", value, sizeof(value)) == 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);
    } else {
        httpd_resp_send_404(req);
        return ESP_FAIL;
    }

    int val = atoi(value);
    sensor_t * s = esp_camera_sensor_get();
    int res = 0;
    
    if(!strcmp(variable, "framesize")) 
    {
        Serial.println("framesize");
        if(s->pixformat == PIXFORMAT_JPEG) res = s->set_framesize(s, (framesize_t)val);
    }
    else if(!strcmp(variable, "quality")) 
    {
      Serial.println("quality");
      res = s->set_quality(s, val);
    }
    //Remote Control Car 
    //Don't use channel 1 and channel 2
    else if(!strcmp(variable, "flash")) 
    {
      ledcWrite(7,val);
    }  
    else if(!strcmp(variable, "speed")) 
    {
      if      (val > 255) val = 255;
      else if (val <   0) val = 0;       
      speed = val;
      ledcWrite(8,speed);
    }     
    else if(!strcmp(variable, "nostop")) 
    {
      noStop = val;
    }             
    else if(!strcmp(variable, "servo")) // 3250, 4875, 6500
    {
      if      (val > 650) val = 650;
      else if (val < 325) val = 325;       
      //ledcWrite(8,10*val);
    }     
    else if(!strcmp(variable, "car")) {  
      if (val==1) {
        Serial.println("Forward");
        robo_fwd();
        robo=1;
      }
      else if (val==2) {
        Serial.println("TurnLeft");
        robo_left();
        robo=1;                 
      }
      else if (val==3) {
        Serial.println("Stop"); 
        robo_stop();
      }
      else if (val==4) {
        Serial.println("TurnRight");
        robo_right();
        robo=1;             
      }
      else if (val==5) {
        Serial.println("Backward");  
        robo_back();
        robo=1;              
      }
      if (noStop!=1) 
      {
        
      }         
    }        
    else 
    { 
      Serial.println("variable");
      res = -1; 
    }

    if(res){ return httpd_resp_send_500(req); }

    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, NULL, 0);
}

static esp_err_t status_handler(httpd_req_t *req){
    static char json_response[1024];

    sensor_t * s = esp_camera_sensor_get();
    char * p = json_response;
    *p++ = '{';

    p+=sprintf(p, "\"framesize\":%u,", s->status.framesize);
    p+=sprintf(p, "\"quality\":%u,", s->status.quality);
    *p++ = '}';
    *p++ = 0;
    httpd_resp_set_type(req, "application/json");
    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
    return httpd_resp_send(req, json_response, strlen(json_response));
}

static const char PROGMEM INDEX_HTML[] = R"rawliteral(
<!doctype html>
<html>
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width,initial-scale=1">
        <title>ESP32 CAM Robot</title>
        <style>
          body{font-family:Arial,Helvetica,sans-serif;background:#181818;color:#EFEFEF;font-size:16px}h2{font-size:18px}
          section.main{display:flex}#menu,section.main{flex-direction:column}#menu{display:none;flex-wrap:nowrap;min-width:340px;background:#363636;padding:8px;border-radius:4px;margin-top:-10px;margin-right:10px}
          #content{display:flex;flex-wrap:wrap;align-items:stretch}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}figure img{display:block;width:100%;height:auto;border-radius:4px;margin-top:8px}@media (min-width: 800px) and (orientation:landscape){#content{display:flex;flex-wrap:nowrap;align-items:stretch}
          figure img{display:block;max-width:100%;max-height:calc(100vh - 40px);width:auto;height:auto}figure{padding:0;margin:0;-webkit-margin-before:0;margin-block-start:0;-webkit-margin-after:0;margin-block-end:0;-webkit-margin-start:0;margin-inline-start:0;-webkit-margin-end:0;margin-inline-end:0}}section
          #buttons{display:flex;flex-wrap:nowrap;justify-content:space-between}#nav-toggle{cursor:pointer;display:block}#nav-toggle-cb{outline:0;opacity:0;width:0;height:0}#nav-toggle-cb:checked+#menu{display:flex}.input-group{display:flex;flex-wrap:nowrap;line-height:22px;margin:5px 0}.input-group>label{display:inline-block;padding-right:10px;min-width:47%}.input-group input,.input-group select{flex-grow:1}.range-max,.range-min{display:inline-block;padding:0 5px}
          button{display:block;margin:5px;padding:5px 12px;border:0;line-height:28px;cursor:pointer;color:#fff;background:#035806;border-radius:5px;font-size:16px;outline:0;width: 100px;}button:hover{background:#ff494d}button:active{background:#f21c21}button.disabled{cursor:default;background:#a0a0a0}input[type=range]{-webkit-appearance:none;width:100%;height:22px;background:#363636;cursor:pointer;margin:0}input[type=range]:focus{outline:0}input[type=range]::-webkit-slider-runnable-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-webkit-slider-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;-webkit-appearance:none;margin-top:-11.5px}input[type=range]:focus::-webkit-slider-runnable-track{background:#EFEFEF}input[type=range]::-moz-range-track{width:100%;height:2px;cursor:pointer;background:#EFEFEF;border-radius:0;border:0 solid #EFEFEF}input[type=range]::-moz-range-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer}input[type=range]::-ms-track{width:100%;height:2px;cursor:pointer;background:0 0;border-color:transparent;color:transparent}input[type=range]::-ms-fill-lower{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-fill-upper{background:#EFEFEF;border:0 solid #EFEFEF;border-radius:0}input[type=range]::-ms-thumb{border:1px solid rgba(0,0,30,0);height:22px;width:22px;border-radius:50px;background:#ff3034;cursor:pointer;height:2px}input[type=range]:focus::-ms-fill-lower{background:#EFEFEF}input[type=range]:focus::-ms-fill-upper{background:#363636}.switch{display:block;position:relative;line-height:22px;font-size:16px;height:22px}.switch input{outline:0;opacity:0;width:0;height:0}.slider{width:50px;height:22px;border-radius:22px;cursor:pointer;background-color:grey}.slider,.slider:before{display:inline-block;transition:.4s}.slider:before{position:relative;content:"";border-radius:50%;height:16px;width:16px;left:4px;top:3px;background-color:#fff}input:checked+.slider{background-color:#ff3034}input:checked+.slider:before{-webkit-transform:translateX(26px);transform:translateX(26px)}select{border:1px solid #363636;font-size:14px;height:22px;outline:0;border-radius:5px}.image-container{position:relative;min-width:160px}.close{position:absolute;right:5px;top:5px;background:#ff3034;width:16px;height:16px;border-radius:100px;color:#fff;text-align:center;line-height:18px;cursor:pointer}.hidden{display:none}
          .rotate90 {
            -webkit-transform: rotate(270deg);
            -moz-transform: rotate(270deg);
            -o-transform: rotate(270deg);
            -ms-transform: rotate(270deg);
            transform: rotate(270deg);
          }
        </style>
    </head>
    <body>
    <figure>
      <div id="stream-container" class="image-container hidden">
        <div class="close" id="close-stream">×</div>
        <img id="stream" src="" class="rotate90">
      </div>
    </figure>
    <br>
    <br>
        <section class="main">
            <section id="buttons">
                <table>
                <tr><td align="center"><button id="get-still">Image</button></td><td></td><td align="center"><button id="toggle-stream">Start</button></td></tr>
                <tr><td></td><td align="center"><button id="forward" onclick="fetch(document.location.origin+'/control?var=car&val=1');">Forward</button></td><td></td></tr>
                <tr><td align="center"><button id="turnleft" onclick="fetch(document.location.origin+'/control?var=car&val=2');">TurnLeft</button></td><td align="center"><button id="stop" onclick="fetch(document.location.origin+'/control?var=car&val=3');">Stop</button></td><td align="center"><button id="turnright" onclick="fetch(document.location.origin+'/control?var=car&val=4');">TurnRight</button></td></tr>
                <tr><td></td><td align="center"><button id="backward" onclick="fetch(document.location.origin+'/control?var=car&val=5');">Backward</button></td><td></td></tr>
                <tr><td>Robot Speed</td><td align="center" colspan="2"><input type="range" id="speed" min="0" max="255" value="255" onchange="try{fetch(document.location.origin+'/control?var=speed&val='+this.value);}catch(e){}"></td></tr>
                <tr><td>Stream Quality</td><td align="center" colspan="2"><input type="range" id="quality" min="10" max="63" value="10" onchange="try{fetch(document.location.origin+'/control?var=quality&val='+this.value);}catch(e){}"></td></tr>
                <tr><td>Stream Resolution</td><td align="center" colspan="2"><input type="range" id="framesize" min="0" max="6" value="5" onchange="try{fetch(document.location.origin+'/control?var=framesize&val='+this.value);}catch(e){}"></td></tr>
                </table>
            </section>         
        </section>
        <script>
          document.addEventListener('DOMContentLoaded',function(){function b(B){let C;switch(B.type){case'checkbox':C=B.checked?1:0;break;case'range':case'select-one':C=B.value;break;case'button':case'submit':C='1';break;default:return;}const D=`${c}/control?var=${B.id}&val=${C}`;fetch(D).then(E=>{console.log(`request to ${D} finished, status: ${E.status}`)})}var c=document.location.origin;const e=B=>{B.classList.add('hidden')},f=B=>{B.classList.remove('hidden')},g=B=>{B.classList.add('disabled'),B.disabled=!0},h=B=>{B.classList.remove('disabled'),B.disabled=!1},i=(B,C,D)=>{D=!(null!=D)||D;let E;'checkbox'===B.type?(E=B.checked,C=!!C,B.checked=C):(E=B.value,B.value=C),D&&E!==C?b(B):!D&&('aec'===B.id?C?e(v):f(v):'agc'===B.id?C?(f(t),e(s)):(e(t),f(s)):'awb_gain'===B.id?C?f(x):e(x):'face_recognize'===B.id&&(C?h(n):g(n)))};document.querySelectorAll('.close').forEach(B=>{B.onclick=()=>{e(B.parentNode)}}),fetch(`${c}/status`).then(function(B){return B.json()}).then(function(B){document.querySelectorAll('.default-action').forEach(C=>{i(C,B[C.id],!1)})});const j=document.getElementById('stream'),k=document.getElementById('stream-container'),l=document.getElementById('get-still'),m=document.getElementById('toggle-stream'),n=document.getElementById('face_enroll'),o=document.getElementById('close-stream'),p=()=>{window.stop(),m.innerHTML='Start'},q=()=>{j.src=`${c+':81'}/stream`,f(k),m.innerHTML='Stop'};l.onclick=()=>{p(),j.src=`${c}/capture?_cb=${Date.now()}`,f(k)},o.onclick=()=>{p(),e(k)},m.onclick=()=>{const B='Stop'===m.innerHTML;B?p():q()},n.onclick=()=>{b(n)},document.querySelectorAll('.default-action').forEach(B=>{B.onchange=()=>b(B)});const r=document.getElementById('agc'),s=document.getElementById('agc_gain-group'),t=document.getElementById('gainceiling-group');r.onchange=()=>{b(r),r.checked?(f(t),e(s)):(e(t),f(s))};const u=document.getElementById('aec'),v=document.getElementById('aec_value-group');u.onchange=()=>{b(u),u.checked?e(v):f(v)};const w=document.getElementById('awb_gain'),x=document.getElementById('wb_mode-group');w.onchange=()=>{b(w),w.checked?f(x):e(x)};const y=document.getElementById('face_detect'),z=document.getElementById('face_recognize'),A=document.getElementById('framesize');A.onchange=()=>{b(A),5<A.value&&(i(y,!1),i(z,!1))},y.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(y,!1)):void(b(y),!y.checked&&(g(n),i(z,!1)))},z.onchange=()=>{return 5<A.value?(alert('Please select CIF or lower resolution before enabling this feature!'),void i(z,!1)):void(b(z),z.checked?(h(n),i(y,!0)):g(n))}});
        </script>
    </body>
</html>
)rawliteral";

static esp_err_t index_handler(httpd_req_t *req){
    httpd_resp_set_type(req, "text/html");
    return httpd_resp_send(req, (const char *)INDEX_HTML, strlen(INDEX_HTML));
}

void startCameraServer()
{
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();

    httpd_uri_t index_uri = {
        .uri       = "/",
        .method    = HTTP_GET,
        .handler   = index_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t status_uri = {
        .uri       = "/status",
        .method    = HTTP_GET,
        .handler   = status_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t cmd_uri = {
        .uri       = "/control",
        .method    = HTTP_GET,
        .handler   = cmd_handler,
        .user_ctx  = NULL
    };

    httpd_uri_t capture_uri = {
        .uri       = "/capture",
        .method    = HTTP_GET,
        .handler   = capture_handler,
        .user_ctx  = NULL
    };

   httpd_uri_t stream_uri = {
        .uri       = "/stream",
        .method    = HTTP_GET,
        .handler   = stream_handler,
        .user_ctx  = NULL
    };
    
    Serial.printf("Starting web server on port: '%d'\n", config.server_port);
    if (httpd_start(&camera_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(camera_httpd, &index_uri);
        httpd_register_uri_handler(camera_httpd, &cmd_uri);
        httpd_register_uri_handler(camera_httpd, &status_uri);
        httpd_register_uri_handler(camera_httpd, &capture_uri);
    }

    config.server_port += 1;
    config.ctrl_port += 1;
    Serial.printf("Starting stream server on port: '%d'\n", config.server_port);
    if (httpd_start(&stream_httpd, &config) == ESP_OK) {
        httpd_register_uri_handler(stream_httpd, &stream_uri);
    }
}

unsigned int get_speed(unsigned int sp)
{
  return map(sp, 0, 100, 0, 255);
}

void robo_setup()
{
    pinMode(LEFT_M0,OUTPUT);
    pinMode(LEFT_M1,OUTPUT);

    pinMode(RIGHT_M0,OUTPUT);
    pinMode(RIGHT_M1,OUTPUT);
    robo_stop();

    ledcAttachPin(LEFT_M_EN, 8);
    ledcSetup(8, 2000, 8);      
    ledcWrite(8, 130);
}

void update_speed()
{  
    //ledcWrite(ledChannel, get_speed(motor_speed));
    ledcWrite(8, get_speed(motor_speed));
}

void robo_stop()
{
  digitalWrite(LEFT_M0,LOW);
  digitalWrite(LEFT_M1,LOW);
  digitalWrite(RIGHT_M0,LOW);
  digitalWrite(RIGHT_M1,LOW);
}

void robo_fwd()
{
  digitalWrite(LEFT_M0,HIGH);
  digitalWrite(LEFT_M1,LOW);
  digitalWrite(RIGHT_M0,HIGH);
  digitalWrite(RIGHT_M1,LOW);
  move_interval=250;
  previous_time = millis();  
}

void robo_back()
{
  digitalWrite(LEFT_M0,LOW);
  digitalWrite(LEFT_M1,HIGH);
  digitalWrite(RIGHT_M0,LOW);
  digitalWrite(RIGHT_M1,HIGH);
  move_interval=250;
   previous_time = millis();  
}

void robo_right()
{
  digitalWrite(LEFT_M0,LOW);
  digitalWrite(LEFT_M1,HIGH);
  digitalWrite(RIGHT_M0,HIGH);
  digitalWrite(RIGHT_M1,LOW);
  move_interval=100;
   previous_time = millis();
}

void robo_left()
{
  digitalWrite(LEFT_M0,HIGH);
  digitalWrite(LEFT_M1,LOW);
  digitalWrite(RIGHT_M0,LOW);
  digitalWrite(RIGHT_M1,HIGH);
  move_interval=100;
   previous_time = millis();
}