ESP32 Tutorial 49/55 - Control DC Motor Over The internet using Adafruit IoT | SunFounder's ESP32 kit

In this video we learn how to control the speed, direction and start/stop of DC motor using ESP32 over clould using MQTT protocol provided by Adafruit.

Topics in this lesson

Use Chapters from timeline or click on the time

00:00 Introduction
2:21 Intoduction to the project
4:20 How DC Motor is controlled
6:39 L293D Motor Driver
11:42 What is MQTT?
15:03 Adafruit IO setup
19:17 Wiring Explained
22:42 Code explained
35:28 Project Demonstration

/*
Watch video instruction for this code on YouTube https://youtu.be/OUgyPXNYg3g
Resource page for this lesson and code:
http://robojax.com/course3
Tutoril by https://youTube.com/@robojax
/***********************************************************************
 This is Arduino sketch for ESP32 to DC Motor using MQTT service of Adafruit
 www.Robojax.com
 Written By Ahamd Shamshiri
 on Feb 18, 2024

Adafruit MQTT Library ESP32 Adafruit IO SSL/TLS example

/// ref: https://www.electronicwings.com/esp32/esp32-mqtt-client
*/
bool debug = false;
#define motor1A 13
#define motor2A 14

// PWM settings
const int freq = 500; // PWM frequency: 500 Hz
const int resolution = 8; // PWM resolution: 8 bits
const int channelA = 0; // PWM channel for motor1A: 0
const int channelB = 1; // PWM channel for motor2A: 1

char* dir[]={"CCW", "CW"};

int motorSpeed =0;
int motorDirection =1;
int motorStart = 1;
int dutyCycle =0;

#include <WiFi.h>
#include "WiFiClientSecure.h"
#include "Adafruit_MQTT.h"
#include "Adafruit_MQTT_Client.h"

/************************* WiFi Access Point *********************************/

#define WLAN_SSID "Book"
#define WLAN_PASS "88888888"

/************************* Adafruit.io Setup *********************************/

#define AIO_SERVER "io.adafruit.com"

// Using port 8883 for MQTTS
#define AIO_SERVERPORT 8883

// Adafruit IO Account Configuration
// (to obtain these values, visit https://io.adafruit.com and click on Active Key)
// #define AIO_USERNAME "YOUR_ADAFRUIT_IO_USERNAME"
// #define AIO_KEY      "YOUR_ADAFRUIT_IO_KEY"

#define AIO_USERNAME "robojax"
#define AIO_KEY "aio_jHpm60SEsWUdU5x472FViZjWzsY9"

/************ Global State (you don't need to change this!) ******************/

// WiFiFlientSecure for SSL/TLS support
WiFiClientSecure client;

// Setup the MQTT client class by passing in the WiFi client and MQTT server and login details.
Adafruit_MQTT_Client mqtt(&client, AIO_SERVER, AIO_SERVERPORT, AIO_USERNAME, AIO_KEY);

// io.adafruit.com root CA
const char* adafruitio_root_ca = \
      "-----BEGIN CERTIFICATE-----\n"
      "MIIEjTCCA3WgAwIBAgIQDQd4KhM/xvmlcpbhMf/ReTANBgkqhkiG9w0BAQsFADBh\n"
      "MQswCQYDVQQGEwJVUzEVMBMGA1UEChMMRGlnaUNlcnQgSW5jMRkwFwYDVQQLExB3\n"
      "d3cuZGlnaWNlcnQuY29tMSAwHgYDVQQDExdEaWdpQ2VydCBHbG9iYWwgUm9vdCBH\n"
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      "b20xHzAdBgNVBAMTFkdlb1RydXN0IFRMUyBSU0EgQ0EgRzEwggEiMA0GCSqGSIb3\n"
      "DQEBAQUAA4IBDwAwggEKAoIBAQC+F+jsvikKy/65LWEx/TMkCDIuWegh1Ngwvm4Q\n"
      "yISgP7oU5d79eoySG3vOhC3w/3jEMuipoH1fBtp7m0tTpsYbAhch4XA7rfuD6whU\n"
      "gajeErLVxoiWMPkC/DnUvbgi74BJmdBiuGHQSd7LwsuXpTEGG9fYXcbTVN5SATYq\n"
      "DfbexbYxTMwVJWoVb6lrBEgM3gBBqiiAiy800xu1Nq07JdCIQkBsNpFtZbIZhsDS\n"
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      "PDAdBgNVHQ4EFgQUlE/UXYvkpOKmgP792PkA76O+AlcwHwYDVR0jBBgwFoAUTiJU\n"
      "IBiV5uNu5g/6+rkS7QYXjzkwDgYDVR0PAQH/BAQDAgGGMB0GA1UdJQQWMBQGCCsG\n"
      "AQUFBwMBBggrBgEFBQcDAjASBgNVHRMBAf8ECDAGAQH/AgEAMDQGCCsGAQUFBwEB\n"
      "BCgwJjAkBggrBgEFBQcwAYYYaHR0cDovL29jc3AuZGlnaWNlcnQuY29tMEIGA1Ud\n"
      "HwQ7MDkwN6A1oDOGMWh0dHA6Ly9jcmwzLmRpZ2ljZXJ0LmNvbS9EaWdpQ2VydEds\n"
      "b2JhbFJvb3RHMi5jcmwwPQYDVR0gBDYwNDAyBgRVHSAAMCowKAYIKwYBBQUHAgEW\n"
      "HGh0dHBzOi8vd3d3LmRpZ2ljZXJ0LmNvbS9DUFMwDQYJKoZIhvcNAQELBQADggEB\n"
      "AIIcBDqC6cWpyGUSXAjjAcYwsK4iiGF7KweG97i1RJz1kwZhRoo6orU1JtBYnjzB\n"
      "c4+/sXmnHJk3mlPyL1xuIAt9sMeC7+vreRIF5wFBC0MCN5sbHwhNN1JzKbifNeP5\n"
      "ozpZdQFmkCo+neBiKR6HqIA+LMTMCMMuv2khGGuPHmtDze4GmEGZtYLyF8EQpa5Y\n"
      "jPuV6k2Cr/N3XxFpT3hRpt/3usU/Zb9wfKPtWpoznZ4/44c1p9rzFcZYrWkj3A+7\n"
      "TNBJE0GmP2fhXhP1D/XVfIW/h0yCJGEiV9Glm/uGOa3DXHlmbAcxSyCRraG+ZBkA\n"
      "7h4SeM6Y8l/7MBRpPCz6l8Y=\n"
      "-----END CERTIFICATE-----\n";

/****************************** Feeds ***************************************/

// Setup a feed called 'test' for publishing and 'test2' for subscription.
// Notice MQTT paths for AIO follow the form: <username>/feeds/<feedname>
Adafruit_MQTT_Subscribe MOTOR_SPEED = Adafruit_MQTT_Subscribe(&mqtt, AIO_USERNAME "/feeds/motor.speed");
Adafruit_MQTT_Subscribe MOTOR_DIRECTION = Adafruit_MQTT_Subscribe(&mqtt, AIO_USERNAME "/feeds/motor.direction");
Adafruit_MQTT_Subscribe MOTOR_START = Adafruit_MQTT_Subscribe(&mqtt, AIO_USERNAME "/feeds/motor.start");

/*************************** Sketch Code ************************************/

void setup() {
  // Set up PWM
  ledcSetup(channelA, freq, resolution);
  ledcSetup(channelB, freq, resolution);

// Attach PWM channels to GPIO pins
  ledcAttachPin(motor1A, channelA);
  ledcAttachPin(motor2A, channelB);

Serial.begin(115200);
  delay(10);

Serial.println(F("DC Motor over MQTT EXample"));

// Connect to WiFi access point.
  Serial.println();
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(WLAN_SSID);

delay(1000);

WiFi.begin(WLAN_SSID, WLAN_PASS);
  delay(2000);

while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println();

Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());

// Set Adafruit IO's root CA
  client.setCACert(adafruitio_root_ca);

// register callback for feed
  MOTOR_SPEED.setCallback(MOTOR_SPEED_Callback);
  // Setup MQTT subscription for time feed.
  mqtt.subscribe(&MOTOR_SPEED);

// register callback for feed
  MOTOR_DIRECTION.setCallback(MOTOR_DIRECTION_Callback);
  // Setup MQTT subscription for time feed.
  mqtt.subscribe(&MOTOR_DIRECTION);

// register callback for feed
  MOTOR_START.setCallback(MOTOR_START_Callback);
  // Setup MQTT subscription for time feed.
  mqtt.subscribe(&MOTOR_START);

}

// uint32_t x=0;

void loop() {

// Ensure the connection to the MQTT server is alive (this will make the first
  // connection and automatically reconnect when disconnected).  See the MQTT_connect
  // function definition further below.
  MQTT_connect();

// Serial.print("Speed: ");
  // Serial.print (motorSpeed);
  // Serial.print(" Dir: ");
  // Serial.print (dir[motorDirection]);
  // Serial.print(" Sart: ");
  // Serial.println(motorStart);

// Serial.print("DutyCycle: ");
  // Serial.println(dutyCycle);

// wait 0.5 seconds for subscription messages
  mqtt.processPackets(500);

runMotor();//very important
  // wait a couple seconds to avoid rate limit
  //delay(2000);
}

void MOTOR_SPEED_Callback(char* message, uint16_t len) {
  char messageBuffer[40];
  //snprintf(messageBuffer, sizeof(messageBuffer), "Color status is :: %s, len :: %u", message, len);
  //Serial.println(messageBuffer);
  Serial.println(message);
  String inString = message;//sotre the message to String
 
  motorSpeed  =  inString.toInt();//convert the message to Integer
  if(motorSpeed >100 || motorSpeed < 0)
  {
    motorSpeed = 0;
  }
  dutyCycle = map (motorSpeed, 0, 100, 0, 255);
 
}

void MOTOR_DIRECTION_Callback(char* message, uint16_t len) {
  char messageBuffer[40];
  //snprintf(messageBuffer, sizeof(messageBuffer), "Color status is :: %s, len :: %u", message, len);
  //Serial.println(messageBuffer);
  Serial.println(message);
  String inString = message;//sotre the message to String
 
  motorDirection  =  inString.toInt();//convert the message to Integer

}

void MOTOR_START_Callback(char* message, uint16_t len) {
  char messageBuffer[40];
  //snprintf(messageBuffer, sizeof(messageBuffer), "Color status is :: %s, len :: %u", message, len);
  //Serial.println(messageBuffer);
  Serial.println(message);

String inString = message;//sotre the message to String
 
  motorStart  =  inString.toInt();//convert the message to Integer

}

void runMotor()
{

if(motorStart ==1)
  {
      if(debug)
      {
        Serial.print("Motor running:");
        Serial.print(dir[motorDirection]);
        Serial.print(" at ");
        Serial.print(motorSpeed);
        Serial.println("%");
      }
    if(motorDirection)
    {
      ledcWrite(channelA, dutyCycle);
      ledcWrite(channelB, 0);
      delay(50); 
    }else{

ledcWrite(channelA, 0);
      ledcWrite(channelB, dutyCycle);
      delay(50); 
    }
  }else{
    if(debug)
    {
      Serial.println("***Motor Stopped***");
    }
      ledcWrite(channelA, 0);
      ledcWrite(channelB, 0);   
  }

}//runMotor() end

// Function to connect and reconnect as necessary to the MQTT server.
// Should be called in the loop function and it will take care if connecting.
void MQTT_connect() {
  int8_t ret;
  // Stop if already connected.
  if (mqtt.connected()) {
    return;
  }
  Serial.print("Connecting to MQTT... ");
  uint8_t retries = 3;
  while ((ret = mqtt.connect()) != 0) {  // connect will return 0 for connected
    Serial.println(mqtt.connectErrorString(ret));
    Serial.println("Retrying MQTT connection in 5 seconds...");
    mqtt.disconnect();
    delay(5000);  // wait 5 seconds
    retries--;
    if (retries == 0) {
      // basically die and wait for WDT to reset me
      while (1)
        ;
    }
  }
  Serial.println("MQTT Connected!");
}


 /*
Watch video instruction for this code on YouTube https://youtu.be/OUgyPXNYg3g
Resource page for this lesson and code:
http://robojax.com/course3
Tutoril by https://youTube.com/@robojax