自制ESP32蓝牙方向盘
DIY ESP32 Bluetooth Steering
准备工作：
- ESP32(D/E)开发板，足够多的GPIO、ADC接口
- MPU6050陀螺仪
- 若干电位器（摇杆、踏板）
- 按钮、拨动开关
- 小型振动电机
- Arduino（选择ESP32开发板）
- esptool
管脚图：
| 引线颜色 | 功能 | 引脚 | 引脚 | 功能 | 引线颜色 |
|---|---|---|---|---|---|
| 黄 | 外接VCC（摇杆VCC、踏板VCC） | 3V3 | GND | 外接GND（踏板GND、电机GND） | 橙 |
| EN | 23 | ||||
| VP | 22 | 陀螺仪SCL | 棕 | ||
| VN | TX | ||||
| 34 | RX | ||||
| 35 | 21 | 陀螺仪SDA | 红 | ||
| 蓝 | 油门踏板 | 32 | GND | 陀螺仪GND | 黑 |
| 绿 | 刹车踏板 | 33 | 19 | 键盘行4 | 紫 |
| 棕 | 遥感X轴 | 25 | 18 | 键盘行3 | 灰 |
| 红 | 遥感Y轴 | 26 | 5 | 键盘行2 | 白 |
| 橙 | 摇杆按钮 | 27 | 17 | 键盘行1 | 黑 |
| 14 | 16 | 键盘列4 | 黑 | ||
| 绿 | 排挡前进挡 | 12 | 4 | 键盘列3 | 白 |
| 黄 | 排挡接地 | GND | 0 | 键盘列2 | 灰 |
| 蓝 | 排挡后退挡 | 13 | 2 | 键盘列1 | 紫 |
| D2 | 15 | 电机VCC | 白 | ||
| D3 | D1 | ||||
| CMD | D0 | ||||
| 红 | 外接VCC（陀螺仪VCC） | 5V | CLK |
Arduino库：
- 蓝牙功能：NimBLE
- 游戏板控制：BleGamepad
- 4x4矩阵键盘：Adafruit Keypad
- MPU6050角度识别：MPU6050_Madgwick
- I2C通信：Wire（Arduino自带）
❗注意事项：
- 摇杆和踏板需接在3.3v
- 陀螺仪需接在5v
- 11/23/2022更新：修改角度识别库，须将陀螺仪的x轴作为方向盘的转动轴，移除了霍尔传感器
- 3/9/2023更新：移除了avdweb_Switch库，采用读电平的方式替代
- 3/22/2023更新：增加按键的防抖功能，兼容欧卡2和神力科莎
Previous work:
- ESP32(D/E)-Devkit (Enough GPIO/ADC pins)
- MPU6050 gyroscope
- Some potentiometer (joystick and pedal)
- Buttons and switches
- Small vibration motor
- Arduino（choose ESP32 board）
- esptool
Pinout:
| Wire color | Function | Pin | Pin | Function | Wire color |
|---|---|---|---|---|---|
| Yellow | External VCC (Joystick VCC) | 3V3 | GND | External GND (Pedal GND) | Orange |
| EN | 23 | ||||
| VP | 22 | Gyroscope SCL | Brown | ||
| VN | TX | ||||
| 34 | RX | ||||
| 35 | 21 | Gyroscope SDA | Red | ||
| Blue | Throttle pedal | 32 | GND | Gyroscope GND | Black |
| Green | Brake pedal | 33 | 19 | Keyboard row 4 | Purple |
| Brown | Joystick X-axis | 25 | 18 | Keyboard row 3 | Gray |
| Red | Joystick Y-axis | 26 | 5 | Keyboard row 2 | White |
| Orange | Joystick button | 27 | 17 | Keyboard row 1 | Black |
| 14 | 16 | Keyboard column 4 | Black | ||
| Green | Forward gear | 12 | 4 | Keyboard column 3 | White |
| Yellow | Gear ground | GND | 0 | Keyboard column 2 | Gray |
| Blue | Reverse gear | 13 | 2 | Keyboard column 1 | Purple |
| D2 | 15 | Motor VCC | White | ||
| D3 | D1 | ||||
| CMD | D0 | ||||
| Red | External VCC (Gyroscope VCC) | 5V | CLK |
Arduino libraries:
- Bluetooth：NimBLE
- Gamepad control：BleGamepad
- 4x4 matrix keypad：Adafruit Keypad
- MPU6050 angle detect：MPU6050_Madgwick
- I2C communication：Wire(Arduino built-in)
❗Attention：
- Connect joystick and pedal to +3.3v
- Connect gyroscope to +5v
- 11/23/2022 updated：Modify MPU6050 library. The x-axis of the gyroscope must be used as the rotation axis of the steering wheel. The Hall sensor is removed.
- 3/9/2023 updated: The module avdweb_Switch is removed.
- 3/22/2023 updated: Add debounce function to the button. Compatible with ETS2 and Assetto Corsa.