{"id":380,"date":"2026-06-10T22:27:38","date_gmt":"2026-06-10T14:27:38","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/diy-electric-scooter-esp32-agv-conversion-farsi\/"},"modified":"2026-06-10T22:27:39","modified_gmt":"2026-06-10T14:27:39","slug":"diy-electric-scooter-esp32-agv-conversion-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/diy-electric-scooter-esp32-agv-conversion-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc DIY: \u062a\u0628\u062f\u06cc\u0644 \u062f\u0648\u0686\u0631\u062e\u0647 \u0628\u0647 AGV \u06a9\u0646\u062a\u0631\u0644\u200c\u067e\u0630\u06cc\u0631 \u0628\u0627 ESP32 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc DIY AGV ESP32\n<\/div>\n
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\u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc DIY \u0648 AGV \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0634\u0645\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u06cc\u06a9 \u062f\u0648\u0686\u0631\u062e\u0647 \u0642\u062f\u06cc\u0645\u06cc \u0631\u0627 \u0628\u0627 \u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631 BLDC Hub<\/strong> (\u0645\u0648\u062a\u0648\u0631 \u0628\u0631\u0627\u0634\u0644\u0633 \u062f\u0627\u062e\u0644 \u0686\u0631\u062e) \u0628\u0647 \u06cc\u06a9 \u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc \u062a\u0628\u062f\u06cc\u0644 \u06a9\u0646\u06cc\u062f. \u0645\u0648\u062a\u0648\u0631 Hub \u062f\u0631 \u062f\u0627\u062e\u0644 \u0686\u0631\u062e \u0639\u0642\u0628 \u062c\u0627\u0633\u0627\u0632\u06cc \u0645\u06cc\u200c\u0634\u0648\u062f \u0648 \u062a\u0648\u0633\u0637 \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644\u0631 FOC<\/strong> (Field-Oriented Control) \u06a9\u0647 \u0628\u0627 ESP32 \u062f\u0633\u062a\u0648\u0631 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f\u060c \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc \u0647\u0627\u0644 \u062f\u0627\u062e\u0644 \u0645\u0648\u062a\u0648\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a \u0631\u0648\u062a\u0648\u0631 \u0631\u0627 \u06af\u0632\u0627\u0631\u0634 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u062a\u0627 \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0645\u0645\u06a9\u0646 \u0634\u0648\u062f.<\/p>\n

AGV<\/strong> (Automated Guided Vehicle) \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u0628\u0647 \u0627\u06cc\u0646 \u0645\u0639\u0646\u0627\u0633\u062a \u06a9\u0647 ESP32 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u062f\u0633\u062a\u0648\u0631\u0627\u062a \u0633\u0631\u0639\u062a \u0631\u0627 \u0627\u0632 \u0631\u0627\u062f\u06cc\u0648 RC \u06cc\u0627 \u0627\u0632 \u06cc\u06a9 \u0645\u0633\u06cc\u0631 \u0628\u0631\u0646\u0627\u0645\u0647\u200c\u0631\u06cc\u0632\u06cc\u200c\u0634\u062f\u0647 \u062f\u0631\u06cc\u0627\u0641\u062a \u06a9\u0646\u062f. \u0628\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0631\u062f\u0646 \u06cc\u06a9 \u0645\u0627\u0698\u0648\u0644 LoRa \u06cc\u0627 ELRS \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0627\u0633\u06a9\u0648\u062a\u0631 \u0631\u0627 \u0627\u0632 \u0631\u0627\u0647 \u062f\u0648\u0631 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u062f\u061b \u06cc\u0627 \u0628\u0627 encoder \u0686\u0631\u062e\u060c \u06cc\u06a9 AGV \u0627\u0646\u0628\u0627\u0631 \u0633\u0627\u062f\u0647 \u0628\u0633\u0627\u0632\u06cc\u062f.<\/p>\n

\u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u06a9\u0645\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a\u0647\u200c\u062a\u0631 \u0627\u0633\u062a \u0627\u0645\u0627 \u0647\u0645\u0647 \u0627\u062c\u0632\u0627 \u062f\u0631 \u0627\u06cc\u0631\u0627\u0646 \u0645\u0648\u062c\u0648\u062f \u0627\u0633\u062a \u0648 \u0647\u0632\u06cc\u0646\u0647 \u0622\u0646 \u0628\u0647 \u0645\u0631\u0627\u062a\u0628 \u06a9\u0645\u062a\u0631 \u0627\u0632 \u062e\u0631\u06cc\u062f \u0627\u0633\u06a9\u0648\u062a\u0631 \u0622\u0645\u0627\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u062f\u0648\u0686\u0631\u062e\u0647 \u062a\u0628\u062f\u06cc\u0644\u200c\u0634\u062f\u0647 \u0628\u0647 \u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc<\/strong> \u0628\u0627 \u0633\u0631\u0639\u062a \u062a\u0627 \u06f2\u06f5km\/h \u0648 \u06a9\u0646\u062a\u0631\u0644 ESP32.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f6 \u062a\u0627 \u06f1\u06f0 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f3 \u062a\u0627 \u06f5 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0631\u0639\u062a:<\/strong> \u062a\u0627 \u06f2\u06f5 km\/h<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\n\n\u0686\u0631\u062e \u062c\u0644\u0648<\/text>\nHub Motor<\/text>\nBLDC 250W<\/text>\n\u0641\u0631\u06cc\u0645 \u062f\u0648\u0686\u0631\u062e\u0647 + \u0628\u0627\u062a\u0631\u06cc LiPo<\/text>\nESP32 + FOC<\/text>\n\u0645\u0648\u062a\u0648\u0631 Hub \u062f\u0631 \u0686\u0631\u062e \u0639\u0642\u0628 \u2014 \u06a9\u0646\u062a\u0631\u0644\u0631 FOC \u0631\u0648\u06cc \u0641\u0631\u06cc\u0645 \u2014 \u0628\u0627\u062a\u0631\u06cc \u0632\u06cc\u0631 \u0635\u0646\u062f\u0644\u06cc<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0645\u062f\u0644<\/th>\n<\/tr>\n<\/thead>\n
    \u0645\u0648\u062a\u0648\u0631 Hub BLDC<\/td>\n250W 36V \u0633\u0627\u06cc\u0632 \u06f2\u06f6 \u0627\u06cc\u0646\u0686<\/td>\n<\/tr>\n
    \u06a9\u0646\u062a\u0631\u0644\u0631 FOC<\/td>\nVESC 4.12 \u06cc\u0627 ODrive S1<\/td>\n<\/tr>\n
    \u0645\u06cc\u06a9\u0631\u0648\u06a9\u0646\u062a\u0631\u0644\u0631<\/td>\nESP32 DevKit<\/td>\n<\/tr>\n
    \u0628\u0627\u062a\u0631\u06cc<\/td>\n36V 10Ah LiPo \u06cc\u0627 Li-ion Pack<\/td>\n<\/tr>\n
    BMS<\/td>\n36V 20A BMS<\/td>\n<\/tr>\n
    \u062a\u0631\u0645\u0632<\/td>\nRegenerative Brake Handle + \u0633\u0646\u0633\u0648\u0631<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f ESP32 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0639\u062a<\/h2>\n
    \n\/\/ ESP32 \u2192 VESC \u0627\u0632 \u0637\u0631\u06cc\u0642 UART\n#include <VescUart.h>\nVescUart UART;\n\nconst int THROTTLE_PIN = 34;  \/\/ \u0648\u0631\u0648\u062f\u06cc \u0622\u0646\u0627\u0644\u0648\u06af (\u062f\u0633\u062a\u0647 \u06af\u0627\u0632)\nconst int BRAKE_PIN    = 35;  \/\/ \u0648\u0631\u0648\u062f\u06cc \u062a\u0631\u0645\u0632\n\nvoid setup() {\n  Serial2.begin(115200, SERIAL_8N1, 16, 17);  \/\/ RX=16, TX=17 \u0628\u0647 VESC\n  UART.setSerialPort(&Serial2);\n  Serial.begin(115200);\n}\n\nvoid loop() {\n  int throttle = analogRead(THROTTLE_PIN);  \/\/ 0-4095\n  int brake    = analogRead(BRAKE_PIN);\n\n  float dutyCycle = 0.0;\n\n  if (brake > 2000) {\n    dutyCycle = -0.2;  \/\/ \u062a\u0631\u0645\u0632 \u0628\u0627\u0632\u06cc\u0627\u0628\u06cc\n  } else {\n    dutyCycle = map(throttle, 500, 3500, 0, 60) \/ 100.0;\n    dutyCycle = constrain(dutyCycle, 0.0, 0.60);  \/\/ \u062d\u062f\u0627\u06a9\u062b\u0631 \u06f6\u06f0\u066a\n  }\n\n  UART.setDuty(dutyCycle);\n  Serial.print(\"Duty: \"); Serial.println(dutyCycle);\n  delay(20);\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    VESC Tool \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0634\u0646\u0627\u0633\u0627\u06cc\u06cc \u06a9\u0631\u062f\u061f<\/td>\nMotor Detection \u0645\u0648\u0641\u0642<\/td>\n<\/tr>\n
    \u0645\u0648\u062a\u0648\u0631 \u062f\u0631 \u0647\u0648\u0627 \u0628\u062f\u0648\u0646 \u0628\u0627\u0631 \u062f\u0631\u0633\u062a \u0645\u06cc\u200c\u06af\u0631\u062f\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u062a\u0631\u0645\u0632 Regenerative \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0627\u062a\u0631\u06cc \u0634\u0627\u0631\u0698 \u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\n<\/tr>\n
    \u062d\u062f\u0627\u06a9\u062b\u0631 \u062c\u0631\u06cc\u0627\u0646 \u062f\u0631 VESC \u0645\u062d\u062f\u0648\u062f \u0634\u062f\u0647\u061f<\/td>\nMotor Max 30A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\n\u062f\u0633\u062a\u0647 \u06af\u0627\u0632<\/text>\nESP32<\/text>\n\u06a9\u0646\u062a\u0631\u0644 UART<\/text>\nVESC FOC<\/text>\n\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631<\/text>\nHub Motor<\/text>\nBLDC \u06f2\u06f5\u06f0W<\/text>\n\u0632\u0646\u062c\u06cc\u0631\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0631\u0642\u06cc \u2014 \u06af\u0627\u0632 \u2192 ESP32 \u2192 VESC \u2192 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n