rc-things

status: working but very coupled to my own personal projects

My latest attempts at remote control stuff.

Concept

Take a perfectly fine remote control device and over complicate it with things like ESP32s, STM32s and Raspberry Pis; use as much Rust as possible because I'm trying to learn it.

Approach

• Run a client on a PC w/ a PS4 controller
• It sends UDP messages to a vehicle
• Vehicle converts the UDP messages into movement

Components

• rc-messaging
  • Code for a universal messaging format that's worked for both my Ackerman steering and differential steering vehicles so far
  • Code for a minimal UDP server / client to send the above messages client (remote control) -> server (vehicle)
  • Uses serde and rmp-serde (MessagePack)
• rc-vehicle
  • Code to compose the above together with a tiny bit of safety to avoid runaway vehicles

Implementations

• rc-client
  • Code for a workstation with a UI that reads from a PS4 controller and sends messages to a vehicle
  • Uses Bevy for the I/O
• esp32-rc-car
  • Code for an ESP32 microcontroller that runs a WiFi AP, receives UDP remote control messages and turns them into PWM signals
  • Based on esp-idf-template
  • Uses as much Rust standard library as possible
  • Uses rc-messaging and rc-vehicle
• pi-rc-tank
  • Code for a Raspberry Pi that receives UDP remote control messages and turns them into serial remote control messages
  • Uses Rust standard library and Tokio
  • Uses rc-messaging and rc-vehicle
• stm32-rc-tank
  • Code for an STM32 microcontroller that is packaged as a Husarion Core2, receives serial remote control messages and turns them into PWM signals
  • Uses hFramework C++ library (deprecated, but Core2 is coupled to it)

Vehicles

esp32-rc-car

• Hosim 9155
  • I already had this
• Hobbywing Quicrun WP brushed ESC
  • I had to buy this because it turns out the factory ESC can't be decoupled from the receiver
• Hobbyking HK 3-wire servo
  • I already had this and needed to use it because the factory steering servo is 5-wire
    • I guess this means the factory ESC also had the potentiometer handling circuitry in it?
• Traxxas Titan 12T 550 motor
  • I didn't need this initially but the factory motor ate some rocks and stopped working

Architecture

Wiring

pi-rc-tank and stm32-rc-tank

• Husarion CORE2 (integrated STM32 and Raspberry Pi, seems to be Lego-compatible)
  • I already had this and used it as a Linux computer with WiFi (the Pi) and a microcontroller (the STM32)
    • So the responsibility of driving the tank is split between the two
• Altronics 2WD robot base
  • I already had this and only used the 2 motors from it
• Lego-compatible tracked robot
  • I already had this and used the tracks off it

Architecture

Wiring