ESP32 - Ultrasonic Sensor - Servo Motor

We will learn:

Hardware Required

1×ESP-WROOM-32 Dev Module
1×Micro USB Cable
1×Ultrasonic Sensor
1×Servo Motor
n×Jumper Wires
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About Servo Motor and Ultrasonic Sensor

If you do not have knowledge of servo motor and ultrasonic sensor (pinout, how they work, how to connect them to ESP32, how to program for them...), learn about them in the following tutorials:

Wiring Diagram

ESP32 Ultrasonic Sensor Servo Motor Wiring Diagram

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ESP32 Code - Ultrasonic Sensor Controls Servo Motor

/* * Created by esp32io.com * * This example code is in the public domain * * Tutorial page: https://esp32io.com/tutorials/esp32-ultrasonic-sensor-servo-motor */ #include <Servo.h> // constants won't change const int TRIG_PIN = 26; // ESP32 pin GIOP26 connected to Ultrasonic Sensor's TRIG pin const int ECHO_PIN = 25; // ESP32 pin GIOP25 connected to Ultrasonic Sensor's ECHO pin const int SERVO_PIN = 9; // ESP32 pin connected to Servo Motor's pin const int DISTANCE_THRESHOLD = 50; // centimeters Servo servo; // create servo object to control a servo // variables will change: float duration_us, distance_cm; void setup() { Serial.begin (9600); // initialize serial port pinMode(TRIG_PIN, OUTPUT); // set ESP32 pin to output mode pinMode(ECHO_PIN, INPUT); // set ESP32 pin to input mode servo.attach(SERVO_PIN); // attaches the servo on pin 9 to the servo object servo.write(0); } void loop() { // generate 10-microsecond pulse to TRIG pin digitalWrite(TRIG_PIN, HIGH); delayMicroseconds(10); digitalWrite(TRIG_PIN, LOW); // measure duration of pulse from ECHO pin duration_us = pulseIn(ECHO_PIN, HIGH); // calculate the distance distance_cm = 0.017 * duration_us; if(distance_cm < DISTANCE_THRESHOLD) servo.write(90); // rotate servo motor to 90 degree else servo.write(0); // rotate servo motor to 0 degree // print the value to Serial Monitor Serial.print("distance: "); Serial.print(distance_cm); Serial.println(" cm"); delay(500); }

Quick Steps

  • If this is the first time you use ESP32, see how to setup environment for ESP32 on Arduino IDE
  • Connect the ESP32 board to your PC via a micro USB cable
  • Open Arduino IDE, select the right ESP32 board and COM port
  • Copy the above code and paste it to Arduino IDE
  • Click Upload button on Arduino IDE to compile and upload code to ESP32 board
  • Move your hand in front of sensor
  • See the change of servo motor

Video Tutorial

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Ultrasonic Sensor and Servo Motor on Commercial Products

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