I wanted to make a robot. However, I could only make a foot because my money ran out.

Configuration

Two servo motors are controlled by ESP32. ESP32 is controlled by smartphone app Blynk via WiFi.

Parts

BLE, WiFi built-in microcontroller board ESP32-DevKitC

　
Servo motor SG-90

　
LiPo battery 400mAh

　
Mounting Universal Plate

Feet

The inside is like this.

I did the robo in my own.#ESP32 #Blynk pic.twitter.com/Fx5NqNK6te

— HomeMadeGarbage (@H0meMadeGarbage) May 23, 2019

I created a cool body with cardboard.

Inside like this

Blynk settings

Smartphone and ESP32 board will be WiFi communication using the Blynk of the smartphone app.Move the foot with the forward/backward button.The Blynk app version is 2.27.5.

Create a new project HARDWRE MODEL selects ESP32 Dev Board. CONNECTION TYPE select WiFi. AUTH TOKEN is used when generating Arduino code (sent by email).
　

Place two button widgets on the forward/backward button.
　

Select the virtual pin V0 in the forward button widget INPUT.

Select the virtual pin V1 as well as the backward button.

Arduino IDE Code

The following program was programmed using Blynk’s library for Arduino. The version is 0.6.1.
https://github.com/blynkkk/blynk-library

Arduino for ESP32 library is version 1.0.0.

I also used the servo motor library ESP32Servo for ESP32.
https://github.com/madhephaestus/ESP32Servo

The Blynk button push is detected to move the servo forward or backward.

#include <ESP32Servo.h>
  
#define BLYNK_PRINT Serial
  
#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
  
// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "YourAuthToken for Blynk";
  
// Your WiFi credentials.
// Set password to "" for open networks.
char ssid[] = "WiFi SSID";
char pass[] = "pass";
  
Servo myservo1, myservo2;
  
int button1 = 0, button2 = 0;
int servoPin1 = 14, servoPin2 = 12;
  
//Forward button detection
BLYNK_WRITE(V0) {
 button1 = param.asInt();
}
  
//Reverse button detection
BLYNK_WRITE(V1) {
 button2 = param.asInt();
}
  
  
void setup()
{
 Serial.begin(115200);
 myservo1.setPeriodHertz(50);    // standard 50 hz servo
 myservo2.setPeriodHertz(50);
 myservo1.attach(servoPin1, 1000, 2000);   
 myservo2.attach(servoPin2, 1000, 2000);
 Blynk.begin(auth, ssid, pass);
}
  
void loop()
{
 Blynk.run();
  
 //Forward 
 if(button1){
   myservo2.write(120);
   delay(200);
   myservo1.write(180);
   delay(200);
   for (int i = 1; i <= 30; i++) {
     myservo1.write(180 - i * 3);
     myservo2.write(120 + i * 2);
     delay(10);
   }
 }
 //Reverse 
 if(button2){
   myservo2.write(180);
   delay(200);
   myservo1.write(90);
   delay(200);
   for (int i = 1; i <= 30; i++) {
     myservo1.write(90 + i * 2);
     myservo2.write(180 - i * 2);
     delay(10);
   }
   delay(100);
   myservo1.write(180);
   delay(100);
 }  
}

#include <ESP32Servo.h>

#define BLYNK_PRINT Serial

#include <WiFi.h>

#include <WiFiClient.h>

#include <BlynkSimpleEsp32.h>

// You should get Auth Token in the Blynk App.

// Go to the Project Settings (nut icon).

char auth[] = "YourAuthToken for Blynk";

// Your WiFi credentials.

// Set password to "" for open networks.

char ssid[] = "WiFi SSID";

char pass[] = "pass";

Servo myservo1, myservo2;

int button1 = 0, button2 = 0;

int servoPin1 = 14, servoPin2 = 12;

//Forward button detection

BLYNK_WRITE(V0) {

button1 = param.asInt();

}

//Reverse button detection

BLYNK_WRITE(V1) {

button2 = param.asInt();

}

void setup()

{

Serial.begin(115200);

myservo1.setPeriodHertz(50); // standard 50 hz servo

myservo2.setPeriodHertz(50);

myservo1.attach(servoPin1, 1000, 2000);

myservo2.attach(servoPin2, 1000, 2000);

Blynk.begin(auth, ssid, pass);

}

void loop()

{

Blynk.run();

//Forward

if(button1){

myservo2.write(120);

delay(200);

myservo1.write(180);

delay(200);

for (int i = 1; i <= 30; i++) {

myservo1.write(180 - i * 3);

myservo2.write(120 + i * 2);

delay(10);

}

//Reverse

if(button2){

myservo2.write(180);

delay(200);

myservo1.write(90);

delay(200);

for (int i = 1; i <= 30; i++) {

myservo1.write(90 + i * 2);

myservo2.write(180 - i * 2);

delay(10);

}

delay(100);

myservo1.write(180);

delay(100);

}

Operation

I could only get a foot out of budget…#ロボット製作 #Blynk pic.twitter.com/rC60Zww9sC

— HomeMadeGarbage (@H0meMadeGarbage) May 23, 2019

Just a small step. I have no idea how long it will take. But someday I want to make it a cool robot.

The following is the completion forecast

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Configuration

Parts

Feet

Blynk settings

Arduino IDE Code

Operation

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