Freenove ESP32 User Manual

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Chapter 11 Touch
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Chapter 11 Touch
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Component Knowledge
Touch sensor
ESP32's touch sensor supports up to 10 GPIO channels as capacitive touch pins. Each pin can be used
separately as an independent touch switch or be combined to produce multiple touch points. The following
table is a list of available touch pins on ESP32.
Name of touch sensing signal
Functions of pins
GPIO number
T0
GPIO4
GPIO4
T1
GPIO0
GPIO0
T2
GPIO2
GPIO2
T3
MTDO
GPIO15
T4
MTCK
GPIO13
T5
MTDI
GPIO12
T6
MTMS
GPIO14
T7
GPIO27
GPIO27
T8
32K_XN
GPIO33
T9
32K_XP
GPIO32
The touch pin number is already defined in ESP32's code base. For example, in the code, you can use T0 to
represent GPIO4.
The electrical signals generated by touch are analog data, which are converted by an internal ADC converter.
You may have noticed that all touch pins have ADC functionality.
The hardware connection method is shown in the following figure.
In this chapter, we use the GPIO15 pin of ESP32 to simulate the touch function and read it.

Freenove ESP32 Specifications

General

Clock Speed	240 MHz
RAM	520 KB SRAM
Wi-Fi	802.11 b/g/n
UART	3
Operating Voltage	3.3V
Input Voltage	5V
DC Current per I/O Pin	40mA
USB	Micro USB
Microcontroller	ESP32
Chip	ESP32
Bluetooth	Bluetooth v4.2 BR/EDR and BLE standard
ADC Channels/Analog Input Pins	18
I2C	Yes
SPI	Yes
Interfaces	I2C, SPI, UART
CPU	Dual-Core 32-bit LX6 Microprocessor

Summary

Safety and Precautions

General Safety Guidelines

Outlines crucial safety measures for handling and using the robot kit to prevent injury or damage.

Hardware Components

ESP32 Expansion Board and Modules

Details the ESP32 expansion board, ESP32 module, camera, and other electronic components.

Mechanical Parts and Tools

Lists acrylic parts, servos, screws, nuts, standoffs, and necessary tools for assembly.

Software and Firmware Setup

CH340 Driver and Firmware Installation

Guides on installing the CH340 driver and burning firmware for OS.

Freenove App and Arduino IDE Setup

Covers installing the Freenove app and setting up the Arduino IDE environment.

ESP32 Pin Configuration

Details ESP32 pins, their functions, and descriptions for robot connectivity.

Robot Assembly and Calibration

Step-by-Step Assembly Guide

Details the process of assembling the robot's body, legs, head, and wiring.

Servo Wiring and Calibration

Guides on connecting ESP32, batteries, servos, and performing robot calibration.

Robot Functionality and Control

Freenove App Features

Overviews app features like Wi-Fi config, LED control, and interaction.

Ultrasonic Ranging and Motion Control

Explains ultrasonic sensor and provides code for robot movements.

Communication Protocols and Commands

Explains communication commands via Serial, BLE, Wi-Fi, and development aspects.