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Aquabotics PlatformIO Project

This repository contains the PlatformIO firmware for Aquabotics—the ESP32-S3 client that receives motor commands over micro-ROS and drives the L298N motor controllers on the ROV.

📂 Repository Structure

aquabotics_platformIO/
├── bno055_IMU/ # IMU example code and configs
├── examples/ # Additional demo sketches
├── images/
│ └── motor_state_machine.png # Main state-machine diagram
├── include/
├── lib/
├── microROS/ # Additional demo sketches about MicroROS
├── src/
│ └── main.cpp # setup(), loop(), callback logic
├── test/ # Unit & integration tests
├── .gitignore
├── README.md
└── platformio.ini # Board settings & dependencies

  • platformio.ini
    Defines the ESP32-S3 board, upload and monitor speeds, and library dependencies (e.g., micro_ros_arduino).

  • src/main.cpp

    • setup():
      • Initializes serial ports and configures GPIO pins for motor enable/in1/in2
      • Initializes micro-ROS, creates a node, and subscribes to "xbox/motor_command"
    • loop():
      • Runs a state machine that pings the micro-ROS agent, creates/destroys entities, and spins the executor
      • When a motor command arrives, calls motor_command_callback()
    • motor_command_callback():
      • Reads index, direction, and speed
      • Applies a change-threshold filter
      • Calls control_motor(idx, dir, speed) to drive the L298N

🚀 Prerequisites

  • PlatformIO extension (VSCode or CLI)
  • ESP32-S3 Development Board
  • L298N motor driver modules
  • USB-serial cable for programming and micro-ROS agent connectivity

⚙️ Build & Upload

  1. Open the project in VSCode with the PlatformIO extension

▶️ Usage

  1. Start your micro-ROS agent on the host computer:
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
  1. Upload the firmware to the ESP32-S3 and open the serial monitor. You should see logs indicating:
  • Agent ping successes/failures
  • Subscription creation
  • Incoming motor commands and state transitions
  1. Use the Aquabotics ROS 2 joy_controller to publish to "xbox/motor_command" and watch the ROV motors respond.

📈 Main State Machine Diagram

Motor State Machine Workflow

  1. Left: setup() flow—serial/GPIO init, micro-ROS node creation, subscription setup.
  2. Right: motor_command_callback() logic—filtering small changes, then calling control_motor(idx, dir, speed).
  3. Bottom: loop() state machine—ping agent, create/destroy entities, spin executor.