Self-balancing Lello triangle_esp32

This project is modified from the following two projects: [Lai Luo Triangle V2-esp32-Brushless Driver EG2133](https://oshwhub.com/45coll/zi-ping-heng-di-lai-luo-san-jiao_10-10 -ban-ben_copy)

[Self-balanced Lailo triangle_esp32-RGB[verified]](https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10- ban-ben_copy)


![IMG_20220404_231031[879].jpg] This project deletes unnecessary fancy functions and serves as an introductory project for learning simpleFOC and automatic control. The specific modifications are as follows: ## Hardware modification 1. Remove the RGB lights. (I don’t like the lighting effects) 2. Removed the automatic download circuit of ESP32, leaving only the restart and serial port 0 circuits. 3. Clear the ESP32 onboard antenna part and modify the PCB layout. 4. The motor driver still uses L6234. 5. The battery charging chip still uses CS5095. 6. Battery balancing still uses the passive balancing chip CM1010-A. (The above three items were purchased when I saw the earliest v1 version of the chip) 7. The brushless motor uses the v2 version of 2715. 8. The momentum wheel is changed to use 24 M3 screws, each screw is equipped with 2 nuts. ## Software modification 1. In the original project, the WiFi of ESP32 uses AP mode. The PC must be connected to ESP32 before debugging. For desktop computers without wireless network cards, it cannot be used, and there is no way to do it. Check the Internet for information while debugging. So I changed it to STA mode, and the ESP32 connected to the wireless router at home. After connecting, I can connect to the ESP32 regardless of whether it is limited or wireless in the same network segment. 2. There are two buttons on the board: RESET and BOOT. When downloading, press and hold BOOT and then press RESET to enter the download mode. Clicking the BOOT button at the same time also acts as a switch to turn WiFi on/off. 3. Modified the original OTA program of ESP32 and changed it to use the built-in Web Server to handle OTA upgrades. 1. First, modify the ssid content on line 47 in the program to the name of your home wireless router. 2. Then modify the content on line 48 to the password of your home wireless router. 3. Save and compile and download into ESP32. 4. After startup, wait for the program initialization to complete, then click the BOOT button to turn on WiFi. 5. Then find the host name "esp32-arduino" in the wireless router, and its corresponding IP address is the address of ESP32. ![ESP32 IP Address] 6. Then enter the IP address you saw in the previous step into the browser to open the ESP32 built-in firmware upgrade web page. Log in first, the username/password are both admin, and then follow the web page prompts to upload the compiled bin firmware to upgrade. 4. The original project code was a bit messy, so I encapsulated it to make it more readable. 5. The original project PC debugging software was a bit messy and had many bugs. When modifying the WiFi mode, I fixed all the bugs I saw. 6. In the debugging software, the function of reading motor parameters is added after the ESP32 is initially connected. The read data is updated in the number box on the left. 7. In addition, the interface layout has been adjusted to make it look neater. 8. I wrote the slave computer software using PlatformIO. When using Arduino IDE, you only need to change main.cpp to the .ino suffix. The version of the simpleFOC library is v2.2.1, and the version of the esp32 library is 2.0.2. The rest of the production and parameter adjustment methods are the same as the original project.