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README.md
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README.md
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| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-H21 | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | Linux |
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| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | --------- | -------- | -------- | -------- | -------- | ----- |
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# linefollower_eye
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# Hello World Example
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ESP32-S3 camera board that finds a coloured blob and reports its position over I2C. Meant to sit on a robot as the “eye”, with something like a Pico as the master.
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Starts a FreeRTOS task to print "Hello World".
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## What it does
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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The ESP runs HSV blob detection on the camera. A MicroPython master can turn the camera on, set colour, and poll for a target. Optionally it can join Wi‑Fi so you can open a browser page to tune the colour live.
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## How to use example
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Target position from `read_target()` is relative to the image centre (320x240). Positive x is right, positive y is up. No target returns `None`.
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Follow detailed instructions provided specifically for this example.
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## Hardware
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Select the instructions depending on Espressif chip installed on your development board:
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ESP pins for the I2C slave:
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- [ESP32 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/stable/get-started/index.html)
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- [ESP32-S2 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html)
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- SDA: GPIO19
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- SCL: GPIO20
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- Address: 0x42
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Example Pico wiring:
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## Example folder contents
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- GP0 (SDA) -> ESP GPIO19
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- GP1 (SCL) -> ESP GPIO20
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- GND shared
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- Use external pull-ups on SDA/SCL (about 2k2–4k7 to 3V3)
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The project **hello_world** contains one source file in C language [hello_world_main.c](main/hello_world_main.c). The file is located in folder [main](main).
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Camera and Wi‑Fi stay off until the master enables them.
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ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt` files that provide set of directives and instructions describing the project's source files and targets (executable, library, or both).
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## Firmware
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Below is short explanation of remaining files in the project folder.
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ESP-IDF project for ESP32-S3. Build and flash as usual:
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```
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├── CMakeLists.txt
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├── pytest_hello_world.py Python script used for automated testing
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├── main
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│ ├── CMakeLists.txt
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│ └── hello_world_main.c
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└── README.md This is the file you are currently reading
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idf.py build
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idf.py -p PORT flash monitor
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```
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For more information on structure and contents of ESP-IDF projects, please refer to Section [Build System](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/build-system.html) of the ESP-IDF Programming Guide.
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## MicroPython master
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## Troubleshooting
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Files live in `mp_i2c_master/`. Copy `vision.py` (and `main.py` if you want the demo) onto the board.
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* Program upload failure
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```python
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from vision import Vision
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import time
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* Hardware connection is not correct: run `idf.py -p PORT monitor`, and reboot your board to see if there are any output logs.
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* The baud rate for downloading is too high: lower your baud rate in the `menuconfig` menu, and try again.
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eye = Vision(sda=0, scl=1)
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eye.start()
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## Technical support and feedback
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# Optional: browser UI for tuning colour
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# eye.set_wifi("YourSSID", "YourPassword")
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# print(eye.wifi_ip())
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Please use the following feedback channels:
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while True:
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t = eye.read_target()
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if t is None:
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print("no target")
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else:
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x, y = t
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print(x, y)
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time.sleep(0.1)
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```
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* For technical queries, go to the [esp32.com](https://esp32.com/) forum
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* For a feature request or bug report, create a [GitHub issue](https://github.com/espressif/esp-idf/issues)
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Useful calls:
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We will get back to you as soon as possible.
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- `eye.start()` — camera on and local detection
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- `eye.set_hsv(h, s, v)` / `eye.set_tolerance(...)` — colour (or tune in the browser)
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- `eye.set_wifi(ssid, password)` / `eye.wifi_off()` / `eye.wifi_ip()`
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- `eye.read_target()` — `(x, y)` or `None`
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## Web UI
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After Wi‑Fi is up, open the ESP’s IP in a browser. You get the live image, colour picker / eyedropper, mask options, and timing. Colour changes there are what the I2C master reads next.
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## Other folders
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- `pc_vision/` — older desktop viewer; the on-device web UI replaces it for tuning
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- `main/` — ESP firmware
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# PC vision (legacy desktop UI)
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# PC vision
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The primary camera + vision tuner now runs **on the ESP** when Wi‑Fi is on:
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Optional desktop client. Prefer the ESP web UI after `eye.set_wifi(ssid, password)`.
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1. Enable camera from the I2C master (`eye.start()`), then Wi‑Fi:
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`eye.set_wifi("YourSSID", "YourPassword")`.
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2. Open the ESP’s IP in a browser → video, eyedropper, HSV/tolerance, mask, drive pad.
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If you still want this app:
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This folder’s `viewer.py` is an optional desktop client that talks to the same HTTP/WS APIs.
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```
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python viewer.py --ip <ESP_IP>
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```
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