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.

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📂 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

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🚀 Prerequisites

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

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⚙️ Build & Upload

1. Open the project in VSCode with the PlatformIO extension

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▶️ Usage

1. Start your micro-ROS agent on the host computer:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

2. 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

3. Use the Aquabotics ROS 2 joy_controller to publish to "xbox/motor_command" and watch the ROV motors respond.

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📈 Main State Machine Diagram

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.