ESP32
The ESP32 is a series of low-cost, low-power system on a chip microcontrollers with integrated Wi-Fi and dual-mode Bluetooth. The ESP32 series employs a Tensilica Xtensa LX6 microprocessor in both dual-core and single-core variations and includes built-in antenna switches, RF balun, power amplifier, low-noise receive amplifier, filters, and power management modules.
Key Features
- CPU: Xtensa dual-core (or single-core) 32-bit LX6 microprocessor
- Clock Speed: Up to 240 MHz
- Wi-Fi: 802.11 b/g/n
- Bluetooth: Bluetooth v4.2 BR/EDR and BLE
- Flash Memory: Up to 16 MB
- SRAM: 520 KB
- GPIOs: 34
- ADCs: 18-channel, 12-bit
- DACs: 2-channel, 8-bit
- Communication Interfaces: SPI, I2C, UART, CAN, I2S
Kart Medulla - ESP32 WROOM 32 Configuration
The ESP32 serves as the "medulla" of the kart, interfacing between the Orin computer, steering angle sensor, and motor driver.
Pin Assignments
| GPIO Pin | Function | Connected To |
|---|---|---|
| GPIO 2 | LED | Onboard LED |
| GPIO 18 | UART RX | Orin TX |
| GPIO 19 | UART TX | Orin RX |
| GPIO 21 | I2C SDA | AS5600 SDA |
| GPIO 22 | I2C SCL | AS5600 SCL |
| GPIO 25 | PWM | Motor Driver PWM |
| GPIO 26 | DIR | Motor Driver Direction |
Wiring Connections
ESP32 to AS5600 Angle Sensor
| AS5600 Pin | ESP32 Pin | Wire Color (2025) |
|---|---|---|
| SCL | GPIO 22 | Blue |
| SDA | GPIO 21 | Green |
| VCC | 3.3V | White |
| GND | GND | Grey |
Temporary Color Code
Wire colors are specific to the 2025 version and not official. Always verify connections.
ESP32 to Motor Driver
| Motor Driver Pin | ESP32 Pin |
|---|---|
| PWM | GPIO 25 |
| DIR | GPIO 26 |
| VCC | 5V |
| GND | GND |
ESP32 to Orin (UART Communication)
| Orin Pin | ESP32 Pin |
|---|---|
| TX | GPIO 18 |
| RX | GPIO 19 |
| GND | GND |