This is the repository for project Grand Theft Autonomous @ MEAM5100 UPenn
![image](https://private-user-images.githubusercontent.com/71893666/284091157-cf41ee0e-bd3c-4022-845d-8e9b1f287d1c.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjYxNjQ2MjQsIm5iZiI6MTcyNjE2NDMyNCwicGF0aCI6Ii83MTg5MzY2Ni8yODQwOTExNTctY2Y0MWVlMGUtYmQzYy00MDIyLTg0NWQtOGU5YjFmMjg3ZDFjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MTIlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTEyVDE4MDUyNFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTM4YjcwZTZmNTk0YjFhYTdmY2JmOGRmODE0Zjc5YTkzYzgwNTNmZDhkMTE1NWNmNzhhYTA0YzE2ZDg1NTM3ZDcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.VOuPIis_Xp8W1e2oi1KR3z5jEThoEobRscs87SbRNYg)
![image](https://private-user-images.githubusercontent.com/71893666/287738685-91e03efd-31a3-44f9-b2a5-43196c14e472.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjYxNjQ2MjQsIm5iZiI6MTcyNjE2NDMyNCwicGF0aCI6Ii83MTg5MzY2Ni8yODc3Mzg2ODUtOTFlMDNlZmQtMzFhMy00NGY5LWIyYTUtNDMxOTZjMTRlNDcyLmpwZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA5MTIlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwOTEyVDE4MDUyNFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTgwNTU0YWExNzY4ZWVmZTU5ZWE0MjlkNjIzYjBmMTYxMWJkYjQxMmU2MTI1ZWMzNGY3YTRkZTFjZjJmYTRkNjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.h4iOQ9GvzMCXkWC-41F2uhJLEsv6BORWxInc1TEAozE)
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ESP32Encoder library v0.8.0 for ESP32-S2: https://www.arduino.cc/reference/en/libraries/esp32encoder/
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Vive510 library: provided by Prof. Mark Yim
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HTML510 library: provided by Prof. Mark Yim
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2 motor encoders, 2 each, 4 total
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2 motor drivers, 1 PWM each, 2 direction pin each, 6 total
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2 servos, 1 PWM pin each, 2 total
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2 vive phototransistors, 1 each, 2 total
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2 ToF sensors, 2 I2C total
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2 IR photosensors, 1 each, 2 total
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ESP32-S2-DEVKitC-1 and ESP32-C3 Pins
Link to documentation: https://www.espressif.com/sites/default/files/documentation/esp32-s2-solo-2_esp32-s2-solo-2u_datasheet_en.pdf
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选取的型号对应12V 130RPM,减速比46.8,电机编码器在电机转一圈输出11个脉冲,因此小车车轮转一圈应输出514.8个脉冲。
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但实际测量使用ESP32Encoder v0.8.0 (https://www.arduino.cc/reference/en/libraries/esp32encoder/)的库时,似乎是一圈约987.5个脉冲,因此还是使用987.5