Duh-Vinci Surgical Robot

Below is the Multi-Million Dollar Ultra-High Technology Da Vinci Surgical Robot.

And this is the Cheap Low Technology Duh Vinci Surgical Robot.

Tablet Interface

Circuit

Parts List:

4 x Me Arm Open Source Robot

1 x Dissection Kit

1 x SparkFun Blynk Board

1 x 4 Line Voltage Level Shifter

1 x ESP32-Cam

1 x PCA9685 12-bit 16-PWM Servo Controller Board

4 x Cat6 RJ45 Surface Mount Box - 1 Port

2 x Cat6 RJ45 Surface Mount Box - 2 Port

1 x 5v/3.3V DC Power Supply

1 x 6v DC Power Supply (Servos)

Support Equipment:

1 x Android Tablet

ESP32-CAM Setup

#include "OV2640.h" #include <WiFi.h> #include <WebServer.h> #include <WiFiClient.h> #include "SimStreamer.h" #include "OV2640Streamer.h" #include "CRtspSession.h" #define ENABLE_OLED //if want use oled ,turn on thi macro // #define SOFTAP_MODE // If you want to run our own softap turn this on #define ENABLE_WEBSERVER #define ENABLE_RTSPSERVER #ifdef ENABLE_OLED #include "SSD1306.h" #define OLED_ADDRESS 0x3c #define I2C_SDA 14 #define I2C_SCL 13 SSD1306Wire display(OLED_ADDRESS, I2C_SDA, I2C_SCL, GEOMETRY_128_32); bool hasDisplay; // we probe for the device at runtime #endif OV2640 cam; #ifdef ENABLE_WEBSERVER WebServer server(80); #endif #ifdef ENABLE_RTSPSERVER WiFiServer rtspServer(8554); #endif #ifdef SOFTAP_MODE IPAddress apIP = IPAddress(192, 168, 1, 1); #else #include "wifikeys.h" #endif #ifdef ENABLE_WEBSERVER void handle_jpg_stream(void) { WiFiClient client = server.client(); String response = "HTTP/1.1 200 OK\r\n"; response += "Content-Type: multipart/x-mixed-replace; boundary=frame\r\n\r\n"; server.sendContent(response); while (1) { cam.run(); if (!client.connected()) break; response = "--frame\r\n"; response += "Content-Type: image/jpeg\r\n\r\n"; server.sendContent(response); client.write((char *)cam.getfb(), cam.getSize()); server.sendContent("\r\n"); if (!client.connected()) break; } } void handle_jpg(void) { WiFiClient client = server.client(); cam.run(); if (!client.connected()) { return; } String response = "HTTP/1.1 200 OK\r\n"; response += "Content-disposition: inline; filename=capture.jpg\r\n"; response += "Content-type: image/jpeg\r\n\r\n"; server.sendContent(response); client.write((char *)cam.getfb(), cam.getSize()); } void handleNotFound() { String message = "Server is running!\n\n"; message += "URI: "; message += server.uri(); message += "\nMethod: "; message += (server.method() == HTTP_GET) ? "GET" : "POST"; message += "\nArguments: "; message += server.args(); message += "\n"; server.send(200, "text/plain", message); } #endif void lcdMessage(String msg) { #ifdef ENABLE_OLED if(hasDisplay) { display.clear(); display.drawString(128 / 2, 32 / 2, msg); display.display(); } #endif } void setup() { #ifdef ENABLE_OLED hasDisplay = display.init(); if(hasDisplay) { display.flipScreenVertically(); display.setFont(ArialMT_Plain_16); display.setTextAlignment(TEXT_ALIGN_CENTER); } #endif lcdMessage("booting"); Serial.begin(115200); while (!Serial) { ; } cam.init(esp32cam_aithinker_config); IPAddress ip; #ifdef SOFTAP_MODE const char *hostname = "devcam"; // WiFi.hostname(hostname); // FIXME - find out why undefined lcdMessage("starting softAP"); WiFi.mode(WIFI_AP); WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0)); bool result = WiFi.softAP(hostname, "12345678", 1, 0); if (!result) { Serial.println("AP Config failed."); return; } else { Serial.println("AP Config Success."); Serial.print("AP MAC: "); Serial.println(WiFi.softAPmacAddress()); ip = WiFi.softAPIP(); } #else lcdMessage(String("join ") + ssid); WiFi.mode(WIFI_STA); WiFi.begin(ssid, password); while (WiFi.status() != WL_CONNECTED) { delay(500); Serial.print(F(".")); } ip = WiFi.localIP(); Serial.println(F("WiFi connected")); Serial.println(""); Serial.println(ip); #endif lcdMessage(ip.toString()); #ifdef ENABLE_WEBSERVER server.on("/", HTTP_GET, handle_jpg_stream); server.on("/jpg", HTTP_GET, handle_jpg); server.onNotFound(handleNotFound); server.begin(); #endif #ifdef ENABLE_RTSPSERVER rtspServer.begin(); #endif } CStreamer *streamer; CRtspSession *session; WiFiClient client; // FIXME, support multiple clients void loop() { #ifdef ENABLE_WEBSERVER server.handleClient(); #endif #ifdef ENABLE_RTSPSERVER uint32_t msecPerFrame = 100; static uint32_t lastimage = millis(); // If we have an active client connection, just service that until gone // (FIXME - support multiple simultaneous clients) if(session) { session->handleRequests(0); // we don't use a timeout here, // instead we send only if we have new enough frames uint32_t now = millis(); if(now > lastimage + msecPerFrame || now < lastimage) { // handle clock rollover session->broadcastCurrentFrame(now); lastimage = now; // check if we are overrunning our max frame rate now = millis(); if(now > lastimage + msecPerFrame) printf("warning exceeding max frame rate of %d ms\n", now - lastimage); } if(session->m_stopped) { delete session; delete streamer; session = NULL; streamer = NULL; } } else { client = rtspServer.accept(); if(client) { //streamer = new SimStreamer(&client, true); // our streamer for UDP/TCP based RTP transport streamer = new OV2640Streamer(&client, cam); // our streamer for UDP/TCP based RTP transport session = new CRtspSession(&client, streamer); // our threads RTSP session and state } } #endif }