board: esp32 use nodemcu-32s and LED_BUILTIN for better compatibility

Also update motor parameters and use BOARD_INIT to setup i2c pins
and clock.

Signed-off-by: Thomas Chou <[email protected]>

Author: hippo5329

config/custom/esp32_config.h

@@ -1,7 +1,7 @@
 // Copyright (c) 2021 Juan Miguel Jimeno
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.esp32
+// you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
 //
 //     http://www.apache.org/licenses/LICENSE-2.0
@@ -15,7 +15,7 @@
 #ifndef ESP32_CONFIG_H
 #define ESP32_CONFIG_H
 
-#define LED_PIN 2 //used for debugging status
+#define LED_PIN LED_BUILTIN //used for debugging status
 
 //uncomment the base you're building
 #define LINO_BASE DIFFERENTIAL_DRIVE       // 2WD and Tracked robot w/ 2 motors
@@ -59,14 +59,14 @@ ROBOT ORIENTATION
 #define MOTOR_OPERATING_VOLTAGE 12          // motor's operating voltage (used to calculate max RPM)
 #define MOTOR_POWER_MAX_VOLTAGE 12          // max voltage of the motor's power source (used to calculate max RPM)
 #define MOTOR_POWER_MEASURED_VOLTAGE 12     // current voltage reading of the power connected to the motor (used for calibration)
-#define COUNTS_PER_REV1 550                 // wheel1 encoder's no of ticks per rev
-#define COUNTS_PER_REV2 550                 // wheel2 encoder's no of ticks per rev
-#define COUNTS_PER_REV3 550                 // wheel3 encoder's no of ticks per rev
-#define COUNTS_PER_REV4 550                 // wheel4 encoder's no of ticks per rev
+#define COUNTS_PER_REV1 450                 // wheel1 encoder's no of ticks per rev
+#define COUNTS_PER_REV2 450                 // wheel2 encoder's no of ticks per rev
+#define COUNTS_PER_REV3 450                 // wheel3 encoder's no of ticks per rev
+#define COUNTS_PER_REV4 450                 // wheel4 encoder's no of ticks per rev
 #define WHEEL_DIAMETER 0.0560               // wheel's diameter in meters
 #define LR_WHEELS_DISTANCE 0.224            // distance between left and right wheels
-#define PWM_BITS 10                         // PWM Resolution of the microcontroller
-#define PWM_FREQUENCY 20000                 // PWM Frequency
+#define PWM_BITS 12                         // PWM Resolution of the microcontroller
+#define PWM_FREQUENCY 100                   // PWM Frequency
 
 // INVERT ENCODER COUNTS
 #define MOTOR1_ENCODER_INV false
@@ -198,8 +198,8 @@ ROBOT ORIENTATION
 #define LIDAR_SERVER { 192, 168, 1, 100 }  // eg IP of the desktop computer
 #define LIDAR_PORT 8889
 #define BAUDRATE 115200
-// #define SDA_PIN 21 // specify I2C pins
-// #define SCL_PIN 22
+#define SDA_PIN 21 // specify I2C pins
+#define SCL_PIN 22
 #define NODE_NAME "esp32"
 // #define TOPIC_PREFIX "esp32/"
 
@@ -218,7 +218,11 @@ const int16_t ADC_LUT[4096] = { /* insert adc_calibrate data here */ };
 // #define ECHO_PIN 32
 #define USE_SHORT_BRAKE // for shorter stopping distance
 // #define WDT_TIMEOUT 60 // Sec
-// #define BOARD_INIT sleep(5) // wait to begin IMU calibration
+#define BOARD_INIT { \
+    Wire.begin(SDA_PIN, SCL_PIN); \
+    Wire.setClock(400000); \
+}
+// #define BOARD_INIT_LATE {}
 
 #ifdef USE_SYSLOG
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){ \

firmware/platformio.ini

@@ -63,7 +63,7 @@ build_flags =
 
 [env:esp32]
 platform = espressif32
-board = esp32dev
+board = nodemcu-32s
 board_build.f_flash = 80000000L
 board_build.flash_mode = qio
 board_build.partitions = min_spiffs.csv