Resources
This page contains all final code files and downloadable project assets for the ESP32 Wireless Communication subsystem.
Final Code
The complete firmware for this subsystem consists of four files. All four are included in the ZIP download below.
mihir_esp32_main.py — Main firmware file. Handles WiFi connection, MQTT publish and subscribe, UART packet reception and forwarding, LED indicators, periodic sensor polling, and the WiFi-loss emergency stop failsafe.
camera_module.py — Camera subsystem module. Handles OV5640 initialization, single-frame JPEG capture, chunked base64 MQTT frame publishing, and continuous streaming mode with configurable frame rate.
config_additions.py — Defines the three camera-specific MQTT topics that are added to the existing config.py file: TOPIC_CAM_CMD, TOPIC_CAM_FRAME, and TOPIC_CAM_STATUS.
viewer.py — Laptop-side viewer script. Subscribes to TOPIC_CAM_FRAME over MQTT, reassembles chunked JPEG frames, and displays them in a live OpenCV window. Run this on your laptop, not on the ESP32.
Download
Schematic and PCB Files
These are also available on the Schematic and PCB pages but are collected here for convenience.
3D Printed Parts
The team designed and printed a half-cut body model of the R6 Recon Amphibot for the Innovation Showcase. This was not a functional enclosure but rather a display model to help visitors understand how the internal electronics would be arranged inside the chassis, where each board would sit, and how the overall robot would look when assembled. It gave people at the showcase a physical reference for the project without needing to see the actual robot fully built.