{"id":693,"date":"2026-06-11T13:57:13","date_gmt":"2026-06-11T05:57:13","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/self-driving-rc-deepracer-esp32-machine-learning-farsi\/"},"modified":"2026-06-11T13:57:14","modified_gmt":"2026-06-11T05:57:14","slug":"self-driving-rc-deepracer-esp32-machine-learning-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/self-driving-rc-deepracer-esp32-machine-learning-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0645\u0627\u0634\u06cc\u0646 RC \u062e\u0648\u062f\u0631\u0627\u0646 \u0628\u0627 DeepRacer \u0648 ESP32: \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 \u0631\u0648\u06cc \u0645\u0633\u06cc\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0645\u0627\u0634\u06cc\u0646 RC \u062e\u0648\u062f\u0631\u0627\u0646 DeepRacer ESP32 OpenCV \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646\n<\/div>\n
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\u0645\u0627\u0634\u06cc\u0646 \u062e\u0648\u062f\u0631\u0627\u0646 DIY \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u06cc\u06a9 \u0645\u0627\u0634\u06cc\u0646 \u062e\u0648\u062f\u0631\u0627\u0646 DIY<\/strong> \u06cc\u06a9 \u0645\u0627\u0634\u06cc\u0646 RC \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u062c\u0627\u06cc \u062f\u0631\u06cc\u0627\u0641\u062a \u062f\u0633\u062a\u0648\u0631 \u0627\u0632 \u0631\u06cc\u0645\u0648\u062a\u060c \u0628\u0627 \u0628\u06cc\u0646\u0627\u06cc\u06cc \u0645\u0627\u0634\u06cc\u0646<\/strong> (Computer Vision) \u062e\u0648\u062f\u0634 \u0645\u0633\u06cc\u0631 \u0631\u0627 \u0645\u06cc\u200c\u0628\u06cc\u0646\u062f \u0648 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634 Line Following<\/strong> \u0627\u0633\u062a \u2014 \u062f\u0648\u0631\u0628\u06cc\u0646 \u06cc\u06a9 \u062e\u0637 \u0633\u0641\u06cc\u062f \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u0631\u0627 \u0645\u06cc\u200c\u0628\u06cc\u0646\u062f \u0648 \u0645\u0627\u0634\u06cc\u0646 \u0622\u0646 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

AWS DeepRacer<\/strong> \u06cc\u06a9 \u067e\u0644\u062a\u0641\u0631\u0645 \u062a\u062c\u0627\u0631\u06cc \u06f4\u06f0\u06f0 \u062f\u0644\u0627\u0631\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc (Reinforcement Learning) \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0645\u0627 \u0628\u0627 \u06cc\u06a9 ESP32-CAM<\/strong> (\u06f5 \u062f\u0644\u0627\u0631) \u0648 OpenCV<\/strong> \u0631\u0648\u06cc Raspberry Pi \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u0645\u0634\u0627\u0628\u0647 \u0628\u0627 \u06f5\u06f0 \u062f\u0644\u0627\u0631 \u0633\u0627\u062e\u062a \u06a9\u0647 \u062e\u0637 \u0631\u0627 \u0628\u0627 PID \u062f\u0646\u0628\u0627\u0644 \u06a9\u0646\u062f \u2014 \u067e\u0627\u06cc\u0647 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 \u062f\u0631 \u0631\u0628\u0627\u062a\u06cc\u06a9!<\/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 \u0645\u0627\u0634\u06cc\u0646 RC \u062e\u0648\u062f\u0631\u0627\u0646 Line Follower \u0628\u0627 OpenCV PID.<\/p>\n

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  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> RC Car + RPi Zero + ESP32-CAM = \u06f5\u06f0 \u062f\u0644\u0627\u0631<\/li>\n
  • \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645:<\/strong> Line Detection + PID Steering<\/li>\n
  • \u067e\u0644\u062a\u0641\u0631\u0645:<\/strong> OpenCV Python \u0631\u0648\u06cc RPi<\/li>\n<\/ul>\n<\/div>\n

    \n\n\u062a\u0635\u0648\u06cc\u0631 \u062f\u0648\u0631\u0628\u06cc\u0646 \u2014 \u062a\u0634\u062e\u06cc\u0635 \u062e\u0637 \u0628\u0627 OpenCV<\/text>\n\n\n\n\n\n\n\n\nCAR<\/text>\n\n\nerror=20px<\/text>\n\n\nROI<\/text>\nOpenCV: threshold \u2192 findContours \u2192 centroid \u2192 PID steering<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f Python \u2014 Line Following \u0628\u0627 PID<\/h2>\n
    \nimport cv2, numpy as np\nimport serial, time\n\n# \u0627\u0631\u062a\u0628\u0627\u0637 \u0628\u0627 ESP32-CAM (MJPEG) \u0648 Arduino (\u0645\u0648\u062a\u0648\u0631):\ncap = cv2.VideoCapture(\"http:\/\/192.168.1.100\/stream\")\nmotor_serial = serial.Serial('\/dev\/ttyUSB0', 115200)\n\n# PID Constants:\nKp, Ki, Kd = 0.4, 0.002, 0.15\nprev_error = integral = 0\nCENTER_X = 320  # \u0646\u0635\u0641 \u0639\u0631\u0636 \u06f6\u06f4\u06f0\n\ndef find_line_center(frame):\n    \"\"\"\u067e\u06cc\u062f\u0627 \u06a9\u0631\u062f\u0646 \u0645\u0631\u06a9\u0632 \u062e\u0637 \u0633\u0641\u06cc\u062f \u062f\u0631 ROI\"\"\"\n    roi = frame[300:400, :, :]  # \u0641\u0642\u0637 \u0642\u0633\u0645\u062a \u067e\u0627\u06cc\u06cc\u0646\n    gray = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY)\n    _, thresh = cv2.threshold(gray, 180, 255, cv2.THRESH_BINARY)\n    M = cv2.moments(thresh)\n    if M[\"m00\"] > 5000:\n        cx = int(M[\"m10\"] \/ M[\"m00\"])\n        return cx\n    return None\n\ndef pid_steer(error):\n    global prev_error, integral\n    integral += error\n    derivative = error - prev_error\n    output = Kp*error + Ki*integral + Kd*derivative\n    prev_error = error\n    return int(max(-45, min(45, output)))  # \u0632\u0627\u0648\u06cc\u0647 \u0641\u0631\u0645\u0627\u0646\n\nBASE_SPEED = 60  # 0-100\n\nwhile True:\n    ret, frame = cap.read()\n    if not ret: continue\n\n    cx = find_line_center(frame)\n    if cx is not None:\n        error = cx - CENTER_X\n        steer = pid_steer(error)\n        cmd = f\"S:{BASE_SPEED},T:{steer}\\n\"\n        motor_serial.write(cmd.encode())\n\n        cv2.circle(frame, (cx, 350), 8, (0,255,0), -1)\n        cv2.line(frame, (CENTER_X,0), (CENTER_X,480), (255,0,0), 1)\n    else:\n        motor_serial.write(b\"S:0,T:0\\n\")  # \u062e\u0637 \u0627\u0632 \u062f\u0633\u062a \u0631\u0641\u062a\n\n    cv2.imshow(\"Self Driving\", frame)\n    if cv2.waitKey(1) == ord('q'): break\n<\/code><\/pre>\n
    \u06a9\u062f Arduino \u2014 \u062f\u0631\u06cc\u0627\u0641\u062a \u062f\u0633\u062a\u0648\u0631 \u0641\u0631\u0645\u0627\u0646<\/h2>\n
    \n#include <Servo.h>\nServo steering;\nconst int M_F=6, M_B=7;\n\nvoid setup() {\n  Serial.begin(115200);\n  steering.attach(9);\n  pinMode(M_F,OUTPUT); pinMode(M_B,OUTPUT);\n}\n\nvoid loop() {\n  if(Serial.available()) {\n    String line = Serial.readStringUntil('\\n');\n    \/\/ \u0641\u0631\u0645\u062a: \"S:60,T:-20\"\n    int si = line.indexOf(\"S:\"); int ti = line.indexOf(\",T:\");\n    if(si>=0 && ti>0) {\n      int spd = line.substring(si+2,ti).toInt();\n      int turn = line.substring(ti+3).toInt();\n\n      \/\/ \u062d\u0631\u06a9\u062a \u0645\u0648\u062a\u0648\u0631:\n      if(spd>0){ digitalWrite(M_F,1); digitalWrite(M_B,0); }\n      else      { digitalWrite(M_F,0); digitalWrite(M_B,0); }\n\n      \/\/ \u0641\u0631\u0645\u0627\u0646 \u0633\u0631\u0648 (\u06f9\u06f0 = \u0645\u0633\u062a\u0642\u06cc\u0645\u060c \u00b1\u06f4\u06f5):\n      steering.write(90 + turn);\n    }\n  }\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062e\u0648\u062f\u0631\u0627\u0646<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0631\u0648\u0634<\/th>\n<\/tr>\n<\/thead>\n
    \u062e\u0637 \u0633\u0641\u06cc\u062f \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u062a\u0627\u0631\u06cc\u06a9<\/td>\n\u06a9\u0627\u063a\u0630 A4 \u06cc\u0627 \u0646\u0648\u0627\u0631 \u0633\u0641\u06cc\u062f<\/td>\n<\/tr>\n
    Threshold \u062f\u0631\u0633\u062a \u062a\u0646\u0638\u06cc\u0645\u061f<\/td>\n\u0628\u0627 trackbar (cv2.createTrackbar)<\/td>\n<\/tr>\n
    PID \u0627\u0648\u0633\u06cc\u0644\u0647 \u0646\u0645\u06cc\u200c\u0632\u0646\u062f\u061f<\/td>\nKp \u0631\u0627 \u06a9\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u062a\u0623\u062e\u06cc\u0631 \u0648\u06cc\u062f\u06cc\u0648 \u0632\u06cc\u0631 \u06f1\u06f0\u06f0ms\u061f<\/td>\ncap.set(CAP_PROP_BUFFERSIZE,1)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nESP32-CAM<\/text>\nMJPEG WiFi<\/text>\nRPi OpenCV<\/text>\nPID Line<\/text>\nArduino<\/text>\n\u0641\u0631\u0645\u0627\u0646 \u0645\u0648\u062a\u0648\u0631<\/text>\n\u0645\u0627\u0634\u06cc\u0646 \u062e\u0648\u062f\u0631\u0627\u0646<\/text>\n\u062f\u0646\u0628\u0627\u0644 \u062e\u0637<\/text>\n\u062e\u0648\u062f\u0631\u0627\u0646 \u2014 ESP32-CAM \u2192 OpenCV PID \u2192 Arduino \u2192 \u062f\u0646\u0628\u0627\u0644 \u062e\u0637<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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