Precision-Farming-Robot

This repository contains the code and instructions for controlling a precision farming robot using an ESP32 microcontroller. The robot can be controlled via a GUI and MQTT communication for movement control, live video streaming, and servo operation. This project aims to help automate tasks like farming and environmental monitoring using robotics.

Table of Contents

1. Features
2. Dependencies
   • Firmware
   • Software
   • Hardware
3. Setup Instructions
   • Firmware Setup
   • Software Setup
   • Application Setup
4. Usage
   • Robot Control
   • Video Streaming
   • Motor Control
   • MQTT Commands
5. Folder Structure
6. License
7. TODO

Features

• Robot Control: Control the robot's movement using a GUI and MQTT-based commands.
• Live Video Feed: Stream video from the robot to the control application via MQTT.
• Wi-Fi and MQTT Communication: Connect the ESP32 to Wi-Fi and communicate with a broker for control and feedback.
• Robot Motor Control: Control up to four motors for movement and a servo for additional movement or functionality.

Dependencies

Firmware

• ESP32 Board Support for Arduino IDE or PlatformIO.
• Required Libraries:
  • WiFi.h (for Wi-Fi connectivity)
  • PubSubClient (for MQTT communication)
  • controller.h (for actuator control)
  • mqtt_broker.h (for MQTT setup)

Software

• Python 3.x
• OpenCV (for video processing)
• Paho MQTT (for MQTT communication)
• NumPy (for handling video data)

Hardware

• ESP32 Development Board
• DC Motors (4 Motors for M1, M2, M3, M4)
• Servo Motor
• Motor Driver (L298N or similar)
• Power Supply for Motors and ESP32
• Camera Module (for video streaming)

Setup Instructions

1. Firmware Setup

1. Configure Wi-Fi credentials: Edit the mqtt_broker.h file to add your Wi-Fi credentials and MQTT broker details.
2. Upload firmware: Upload the firmware to the ESP32 using Arduino IDE or PlatformIO.
3. Connect hardware: Connect the motors, motor driver, and camera according to the pin configuration found in the Hardware/ folder.

2. Software Setup

1. Install Python dependencies:

   pip install opencv-python paho-mqtt numpy

2. Run the Publisher (pub.py) script to start streaming video from the robot.

3. Run the Subscriber (sub.py) script to view the live video stream.

3. Application Setup

1. Install required libraries for the GUI application:

   pip install PyQt6 paho-mqtt opencv-python

2. Run the RobotCarControlApp script to control the robot and view the video feed:

   python RobotCarControlApp.py

Usage

Robot Control

• Use the GUI to move the robot in four directions (up, down, left, right) and control its speed.
• Press the Stop button to halt the robot.
• Toggle the Auto button for autonomous control.

Video Streaming

• The Publisher (pub.py) captures video from the robot’s camera and sends it to the MQTT broker.
• The Subscriber (sub.py) receives the video stream and displays it in a window.

Motor Control

• Control the robot's four motors through the GUI, using buttons for directional movement and a slider for speed control.

MQTT Commands

Control the robot using the following MQTT commands.

.\mosquitto_pub.exe -t robot/control -h <BROKER_IP> -m JSON_MESSAGE
.\mosquitto_sub.exe -t robot/control -h <BROKER_IP>

---

1. Forward Movement

{"command": "FORWARD", "speed": 100, "continuous": true, "stearAngle": 0}

2. Backward Movement

{"command": "BACKWARD", "speed": 100, "continuous": true, "stearAngle": 0}

3. Rotate Left

{"command": "LEFT", "speed": 100, "continuous": true, "stearAngle": 0}

4. Rotate Right

{"command": "RIGHT", "speed": 100, "continuous": true, "stearAngle": 0}

5. Turning Forward Right

{"command": "FORWARD_RIGHT", "speed": 100, "continuous": true, "stearAngle": 30}

6. Turning Forward Left

{"command": "FORWARD_LEFT", "speed": 100, "continuous": true, "stearAngle": 30}

7. Turning Backward Left

{"command": "BACKWARD_LEFT", "speed": 100, "continuous": true, "stearAngle": 30}

8. Turning Backward Right

{"command": "BACKWARD_RIGHT", "speed": 100, "continuous": true, "stearAngle": 30}

9. Stopping the Motors

{"command": "STOP"}

10. Controlling the Servo

{"command": "SERVO", "angle": 45}

Folder Structure

├── Application/        # GUI application for robot control and video streaming
├── Firmware/           # ESP32 firmware for motor control and MQTT communication
├── Hardware/           # Pin configuration and hardware setup
├── Software/           # MQTT video streaming publisher and subscriber
└── README.md           # This file

License

This project is licensed under the MIT License - see the LICENSE file for details.

---

TODO

• Implement autonomous pathfinding using sensors (e.g., ultrasonic, IR).
• Integrate additional sensors for environmental data (temperature, soil moisture).
• Develop and test the robot in real-world farming environments.
• Add features for battery monitoring and power-saving modes.
• Create an Android or iOS app for mobile control.
• Add advanced motor control algorithms for smoother movement.
• Implement a camera feed streaming feature with adjustable resolution.
• Optimize the GUI for better user experience.
• Add unit tests for the firmware and software components.