Robot autonome de collecte et de tri des déchets alimenté par l’IA

#include 
#include 

// Replace with your NodeMCU MAC address
uint8_t receiverMAC[] = {0x24, 0x6F, 0x28, 0xAA, 0xBB, 0xCC};

typedef struct {
int wasteType;  // 1=Wet, 2=Dry, 3=Metal
} MessageData;

MessageData data;

void setup() {
Serial.begin(115200);

WiFi.mode(WIFI_STA);

if (esp_now_init() != ESP_OK) {
 Serial.println("ESP-NOW Init Failed");
 return;
}

esp_now_peer_info_t peerInfo = {};
memcpy(peerInfo.peer_addr, receiverMAC, 6);
peerInfo.channel = 0;
peerInfo.encrypt = false;

esp_now_add_peer(&peerInfo);

Serial.println("Transmitter Ready");
}

void loop() {


int aiResult = 1;

data.wasteType = aiResult;

esp_now_send(receiverMAC, (uint8_t *) &data, sizeof(data));

Serial.print("Sent Waste Type: ");
Serial.println(aiResult);

delay(3000);
}

#include 
#include 
#include 

// Servo pins
#define BASE_SERVO 13
#define SHOULDER_SERVO 12
#define ELBOW_SERVO 14
#define GRIPPER_SERVO 27

Servo baseServo, shoulderServo, elbowServo, gripperServo;

typedef struct {
int wasteType;
} MessageData;

MessageData receivedData;

void onReceive(const uint8_t * mac, const uint8_t *incomingData, int len) {
memcpy(&receivedData, incomingData, sizeof(receivedData));

Serial.print("Received Waste Type: ");
Serial.println(receivedData.wasteType);

if (receivedData.wasteType == 1) moveToWet();
else if (receivedData.wasteType == 2) moveToDry();
else if (receivedData.wasteType == 3) moveToMetal();
}

void setup() {
Serial.begin(115200);

WiFi.mode(WIFI_STA);

Serial.print("Receiver MAC: ");
Serial.println(WiFi.macAddress());

if (esp_now_init() != ESP_OK) {
 Serial.println("ESP-NOW Init Failed");
 return;
}

esp_now_register_recv_cb(onReceive);

baseServo.attach(BASE_SERVO);
shoulderServo.attach(SHOULDER_SERVO);
elbowServo.attach(ELBOW_SERVO);
gripperServo.attach(GRIPPER_SERVO);

Serial.println("Receiver Ready");
}

void loop() {
// Nothing here, everything handled in onReceive()
}

//  Movement Functions

void pickObject() {
gripperServo.write(30);  // Open
delay(500);
shoulderServo.write(60); // Lower arm
delay(1000);
gripperServo.write(80);  // Close
delay(500);
shoulderServo.write(20); // Lift
delay(1000);
}

void moveToWet() {
pickObject();
baseServo.write(30);  // Wet bin position
delay(1000);
gripperServo.write(30); // Release
}

void moveToDry() {
pickObject();
baseServo.write(90);  // Dry bin
delay(1000);
gripperServo.write(30);
}

void moveToMetal() {
pickObject();
baseServo.write(150); // Metal bin
delay(1000);
gripperServo.write(30);
}

Retrouvez l’histoire de Raspberry Pi dans cette vidéo :