instructables

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi

Module ESP8266 Explore

by ChandanK54

1.COMPARISON WITH RADIO CONTROLLED PLANE-

Cost Effectiveness

Decreases the efforts of the flyer

It works in 2.4-5 GHz Bandwidth where as RC works within 2.4GHz.

It has higher data transfer speed.

Step 1: INTRODUCTION

1.We(Chandan,Suraj,Chandan) have controlled RC plane by moving/tilting mobile phone and by moving a slider
for motor using wifi module where there is wireless communication between plane and mobile phone.

2.It reduces the efforts of a flyer and also the cost of a plane.

https://youtu.be/bbVVfi__YjY

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 1
Step 2: Ingredients

1.For plane construction:- ii.ESP8266 WiFi Module,

i.Styrofoam, iii.FTDI Breakout Board,

ii.Corrugated Sheets, iv.Jumper Wires,

iii.3Servos, v.3Resistors(1k ),

iv.Brushless DC Motor(1100kV), vi.Blank PCB(Printed Circuit Board)

v.Battery(11.1V,2200mAh), 3. Tools:-

vi.Electronic Speed Controller(ESC) i.Glue Gun,

vii.Plastic Electric Propeller ii.Soldering Iron Kit,

2. For Wireless Communication:- iii.Bread Board,

i.Android mobile Phone,

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 2
Step 3: A BASIC RC PLANE CIRCUIT DIAGRAM & DATA TRANSMISSION

DATA TRANSMISSION:- 3. Hence, data is transmitted from Roboremo app to

WiFi module through WiFi connection between
1.There is mobile phone and WiFi module.
an inbuilt accelerometer sensor in mobile phone
which provides data as a measure of rotation ( Pitch 4. This data is ,then used to control servos and
& Roll). motors through wired connection.

2.This data is measured through an app called

"ROBOREMO APP".

Step 4: DOWNLOADS

1.NODEMCU FLASHER MASTER:- 2. INSTALLING ARDUINO IDE:-

i.This is a software which has been downloaded for i.Through this

firmware update.
ii.Firmware is a type of software that provides control,
monitoring and data manipulation of engineered
products and systems.
IDE, Code is written on it, and is uploaded into
ESP8266 WIFI Module.
3.Installing the ESP8266 Board via the Board
Manager

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 3
Step 5: CONFIGURING ESP8266 WIFI MODULE USING ARDUINO IDE

1.Connections With FTDI BOARD For FIRMWARE
UPDATE(UART Connections)
2.FIRMWARE UPDATE USING NODEMCU
FLASHER MASTER
changing mode ,Baud rate and TCP connection.
AT......OK
AT+CIOBAUD=115200(Setting Baud Rate)

3.USING "AT" COMMANDS:- AT+CWMODE=3(Both ‘Sta’ & ‘AP’ Mode)

At First, ‘Bare AT+CIPMUX=0(For single connection)

Minimum Code’ is uploaded.
AT+CIPSERVER=[,port](set as a server)
And then ‘AT’ commands are used for

Step 6: FINAL CODE UPLOAD

#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <servo.h>
To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 4
#include <servo.h>

// config:
const char *ssid = "mywifi"; // You will connect your phone to this Access Point
const char *pw = "qwerty123"; // and this is the password
IPAddress ip(192, 168, 0, 1); // From RoboRemo app, connect to this IP
IPAddress netmask(255, 255, 255, 0);
const int port = 9876; // and this port
const int chCount = 4; // 4 channels, you can add more if you have GPIOs :)
Servo servoCh[chCount]; // will generate 4 servo PWM signals
int chPin[] = {0, 2, 14, 12}; // ESP pins: GPIO 0, 2, 14, 12
int chVal[] = {1500, 1500, 1500, 1500}; // default value (middle)
int x=1000;
int motor=4;
int usMin = 1000; // min pulse width
int usMax = 2000; // max pulse width
WiFiServer server(port);
WiFiClient client;
char cmd[100]; // stores the command chars received from RoboRemo
int cmdIndex;
unsigned long lastCmdTime = 60000;
unsigned long aliveSentTime = 0;
boolean cmdStartsWith(const char *st) { // checks if cmd starts with st
for(int i=0; ; i++) {
if(st[i]==0) return true;
if(cmd[i]==0) return false;
if(cmd[i]!=st[i]) return false;;
}
return false;
}
void exeCmd() { // executes the command from cmd
lastCmdTime = millis();
// example: set RoboRemo slider id to "ch0", set min 1000 and set max 2000
if( cmdStartsWith("ch") ) {
int ch = cmd[2] - '0';
if(ch>=0 && ch<=9 && cmd[3]==' ') {
chVal[ch] = (int)atof(cmd+4);
if(!servoCh[ch].attached()) {
servoCh[ch].attach(chPin[ch], usMin, usMax);
}
servoCh[ch].writeMicroseconds(chVal[ch]);
}
}
// invert channel:
// example: set RoboRemo slider id to "ci0", set min 2000 and set max 1000
if( cmdStartsWith("ci") ) {
int ch = cmd[2] - '0';
if(ch>=0 && ch<=9 && cmd[3]==' ') {
x = (int)atof(cmd+4);
if(!servoCh[ch].attached()) {
servoCh[ch].attach(motor, usMin, usMax);
}
servoCh[ch].writeMicroseconds(x);
}
}
// use accelerometer:
// example: set RoboRemo acc y id to "ca1"
if( cmdStartsWith("ca") ) {
int ch = cmd[2] - '0';
if(ch>=0 && ch<=9 && cmd[3]==' ') {
chVal[ch] = (usMax+usMin)/2 + (int)( atof(cmd+4)*51 ); // 9.8*51 = 500 => 1000 .. 2000
if(!servoCh[ch].attached()) {
servoCh[ch].attach(chPin[ch], usMin, usMax);
}
servoCh[ch].writeMicroseconds(chVal[ch]);
}
}
// invert accelerometer:
// example: set RoboRemo acc y id to "cb1"
if( cmdStartsWith("cb") ) {
int ch = cmd[2] - '0';
if(ch>=0 && ch<=9 && cmd[3]==' ') {
chVal[ch] = (usMax+usMin)/2 - (int)( atof(cmd+4)*51 ); // 9.8*51 = 500 => 1000 .. 2000
if(!servoCh[ch].attached()) {
servoCh[ch].attach(chPin[ch], usMin, usMax);
}
To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 5
 }
servoCh[ch].writeMicroseconds(chVal[ch]);
}
}
}
void setup() {
delay(1000);
/*for(int i=0; i 500) {
for(int i=0; i 500) { // every 500ms
client.write("alive 1\n");
// send the alibe signal, so the "connected" LED in RoboRemo will stay ON
// (the LED must have the id set to "alive")
aliveSentTime = millis();
// if the connection is lost, the RoboRemo will not receive the alive signal anymore,
// and the LED will turn off (because it has the "on timeout" set to 700 (ms) )
}
}

About the code:-

1.Wifi Module is created as a server in AP mode , SSID and Password is set up and it is connected to the inbuilt WiFi Module of mobile phone.
2.Servos and Motor ID are checked and the data which is received as a string ,is converted into int, which is then fed to servo.

Note:-Final code can also be downloaded from the given link named "ROBOREMO.ino".

Download (https://cdn.instructables.com/ORIG/F31/IXFT/IZ6C9P74/F31IXFTIZ6C9P74.ino)

http://www.instructables.com/ORIG/F31/IXFT/IZ6C9P74/F31IXFTIZ6C9P74.ino

(https://cdn.instructables.com/ORIG/F31/IXFT/IZ6C9P74/F31IXFTIZ6C9P74.ino)

Step 7: CONNECTIONS OF ESP8266 WITH SERVOS AND FTDI BOARD AFTER FINAL
CODE UPLOAD:-

1.Once the code is uploaded , FTDI Breakout Board is removed and Vcc & GND is connected to the ESC’s Vcc &
GND.

2.Using coded SSID and password , mobile phone is connected to ESP8266.

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 6
Step 8: EDITING USER INTERFACE IN ROBOREMO APP:-

Step 9: About the code

1.Wifi Module is created as a server in AP mode , SSID and Password is set up and it is connected to the inbuilt
WiFi Module of mobile phone.

2.Servos and Motor ID are checked and the data which is received as a string ,is converted into int, which is then
fed to servo.

To Control RC Plane Through Mobile Phone's Accelerometer Using WiFi Module ESP8266 Explore: Page 7