The project
Building a drone using an **ESP32**, **MPU6050**, **720 Coreless Motors**, **L293D motor
driver**, and **Wi-Fi control** by phone requires setting up a stable system for motor control, motion
detection, and Wi-Fi communication. I will guide you step by step through component installation, the
complete code, and the design of the interface to control the drone over Wi-Fi.
---
### **Components Required:**
1. **ESP32** - Microcontroller with Wi-Fi capability.
2. **MPU6050** - Gyroscope and accelerometer for motion sensing.
3. **720 Coreless Motors (x4)** - Lightweight motors to provide lift.
4. **L293D Motor Driver** - To control the motors.
5. **LiPo Battery** - Power supply for the motors and ESP32.
6. **Propellers (x4)** - Attached to the motors to create lift.
7. **Frame** - To hold all the components together.
8. **Wires and Connectors** - To connect everything.
---
### **Step 1: Wiring the Components**
#### 1. **MPU6050 to ESP32 Wiring:**
- **VCC (MPU6050)** → **3.3V (ESP32)**
- **GND (MPU6050)** → **GND (ESP32)**
- **SCL (MPU6050)** → **GPIO22 (ESP32)** (SCL)
- **SDA (MPU6050)** → **GPIO21 (ESP32)** (SDA)
#### 2. **720 Coreless Motors to L293D Motor Driver:**
- **Motors**: Connect the four coreless motors to the L293D motor driver as follows:
- Motor 1: OUT1 & OUT2
- Motor 2: OUT3 & OUT4
- Motor 3: OUT1 & OUT2 (of another L293D if using two drivers)
- Motor 4: OUT3 & OUT4 (of another L293D if using two drivers)
#### 3. **L293D Motor Driver to ESP32 Wiring:**
- **IN1 (L293D)** → **GPIO12 (ESP32)** (Motor 1 forward)
- **IN2 (L293D)** → **GPIO13 (ESP32)** (Motor 1 backward)
- **IN3 (L293D)** → **GPIO14 (ESP32)** (Motor 2 forward)
- **IN4 (L293D)** → **GPIO15 (ESP32)** (Motor 2 backward)
- **EN1 (L293D)** → **GPIO16 (ESP32)** (PWM for Motor 1)
- **EN2 (L293D)** → **GPIO17 (ESP32)** (PWM for Motor 2)
- **Power Supply**: Connect a 7.4V LiPo battery to the power input of the L293D and the motors.
Connect the ground of the battery to **GND** of ESP32 and the L293D.
#### 4. **Power Supply for ESP32:**
- Connect the ESP32 to a separate 3.7V LiPo battery or power it using the USB port.
---
### **Step 2: Understanding the Control Mechanism**
The ESP32 will handle two tasks:
- **Motion Stabilization**: Using data from the MPU6050 to maintain balance.
- **Motor Control via Wi-Fi**: Using the L293D motor driver to control the 720 coreless motors. The
motors will be controlled via a **web interface** hosted by the ESP32.
---
### **Step 3: Designing the Web Interface**
We will create a simple web server using ESP32 to control the drone motors via a mobile phone
browser. The webpage will have controls (sliders and buttons) for adjusting motor speeds and
controlling flight directions.
---
### **Complete Code for ESP32**
Here is the code that includes Wi-Fi setup, web server creation, MPU6050 integration, and motor
control using the L293D driver:
```cpp
#include <WiFi.h>
#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <WebServer.h>
// Motor control pins
const int motor1Pin1 = 12;
const int motor1Pin2 = 13;
const int motor2Pin1 = 14;
const int motor2Pin2 = 15;
const int motorSpeedPin1 = 16; // Motor 1 speed (PWM)
const int motorSpeedPin2 = 17; // Motor 2 speed (PWM)
// Wi-Fi Credentials
const char* ssid = "Your_SSID"; // Replace with your Wi-Fi network name
const char* password = "Your_PASSWORD"; // Replace with your Wi-Fi password
// Web Server on port 80
WebServer server(80);
// MPU6050 setup
Adafruit_MPU6050 mpu;
int motor1Speed = 0;
int motor2Speed = 0;
// HTML for Web Interface
String webPage = "<html>\
<head>\
<title>Drone Control</title>\
</head>\
<body>\
<h1>Drone Control</h1>\
<form action=\"/motor1\" method=\"GET\">\
Motor 1 Speed: <input type=\"range\" min=\"0\" max=\"255\" value=\"0\" name=\"speed1\"
oninput=\"this.nextElementSibling.value=this.value\"> <output>0</output><br><br>\
<input type=\"submit\" value=\"Set Motor 1\">\
</form>\
<br>\
<form action=\"/motor2\" method=\"GET\">\
Motor 2 Speed: <input type=\"range\" min=\"0\" max=\"255\" value=\"0\" name=\"speed2\"
oninput=\"this.nextElementSibling.value=this.value\"> <output>0</output><br><br>\
<input type=\"submit\" value=\"Set Motor 2\">\
</form>\
</body>\
</html>";
void setup() {
Serial.begin(115200);
// Set up Wi-Fi
WiFi.begin(ssid, password);
Serial.print("Connecting to WiFi...");
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.print(".");
}
Serial.println();
Serial.println("Connected to WiFi");
// Start the web server
server.on("/", handleRoot); // Serve the web page
server.on("/motor1", handleMotor1); // Handle motor 1 control
server.on("/motor2", handleMotor2); // Handle motor 2 control
server.begin();
Serial.println("Web server started");
// Set motor control pins as output
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motorSpeedPin1, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(motorSpeedPin2, OUTPUT);
// MPU6050 initialization
if (!mpu.begin()) {
Serial.println("Failed to find MPU6050 chip");
while (1) {
delay(10);
}
mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
mpu.setGyroRange(MPU6050_RANGE_500_DEG);
Serial.println("Setup complete");
void loop() {
// Handle client requests
server.handleClient();
// You can add code here to read MPU6050 data and implement PID control later
// Function to serve the root webpage
void handleRoot() {
server.send(200, "text/html", webPage);
// Function to handle motor 1 speed control
void handleMotor1() {
if (server.hasArg("speed1")) {
motor1Speed = server.arg("speed1").toInt();
analogWrite(motorSpeedPin1, motor1Speed);
if (motor1Speed > 0) {
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
} else {
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
Serial.print("Motor 1 Speed: ");
Serial.println(motor1Speed);
server.send(200, "text/html", webPage);
// Function to handle motor 2 speed control
void handleMotor2() {
if (server.hasArg("speed2")) {
motor2Speed = server.arg("speed2").toInt();
analogWrite(motorSpeedPin2, motor2Speed);
if (motor2Speed > 0) {
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
} else {
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
Serial.print("Motor 2 Speed: ");
Serial.println(motor2Speed);
}
server.send(200, "text/html", webPage);
```
### **Explanation of the Code:**
- **Wi-Fi Setup**: The ESP32 connects to the Wi-Fi network using the provided SSID and password.
- **Web Server**: The ESP32 hosts a simple web server on port 80. When accessed from your phone's
browser, it serves a page with sliders for controlling motor speeds.
- **Motor Control**: The L293D motor driver controls two motors using PWM for speed adjustment.
The speed is set by the sliders in the web interface.
- **MPU6050**: The MPU6050 sensor is initialized
