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A radar system on the Deneyap Kart 1A (ESP32-S3). A servo sweeps an HC-SR04 ultrasonic sensor across a 180° arc; the board streams range telemetry over WebSocket and serves a full dashboard from its own flash — no external server, no app.
Sweep and sensing run in a non-blocking loop: each step is gated by a
millisecond timer, not delay(), so the WebSocket and HTTP stacks stay
responsive between steps.
[Servo position] → [HC-SR04 pulse] → [distance measurement]
↓ ↓
[LCD update] [WebSocket broadcast]
↓
[Browser radar canvas]
Inbound commands from the dashboard arrive as JSON over WebSocket port 81 and apply to the live sweep parameters immediately — no reflash.
Offline behavior: if Wi-Fi association fails after 30 attempts
(~12 seconds), the LCD shows OFFLINE MODE and the sweep loop keeps
running locally. The dashboard is unreachable in that state, but ranging,
detection, and the LCD readout are unaffected — the radar doesn't depend on
the network being up to function.
Hardware
clear()
in the loop, so no flickerDashboard (served at http://<device-ip>)
Firmware controls (all runtime-adjustable, no reflash)
| Command | Effect |
|---|---|
SET_SWEEP_MIN | Left boundary of sweep arc (0–180°) |
SET_SWEEP_MAX | Right boundary of sweep arc (0–180°) |
SET_STEP_DEG | Angular resolution per step (1–10°) |
SET_STEP_DELAY | Milliseconds between steps (5–200ms) |
SET_THRESHOLD | Detection distance in cm (1–300cm) |
MANUAL_STEER | Point servo to a specific angle |
AUTO_RESUME | Return to automatic sweep |
One frame broadcast per sweep step on port 81.
Outbound (board → browser):
{ "a": 90, "d": 34.2, "det": true }
a — servo angle (0–180°)d — distance in cm, or -1 if out of rangedet — true if within detection thresholdInbound (browser → board): see the firmware controls table above.
| Component | Qty | Notes |
|---|---|---|
| Deneyap Kart 1A | 1 | ESP32-S3 based; other ESP32 boards need pin remapping |
| HC-SR04 | 1 | 5V supply required |
| SG90 servo | 1 | 5V supply required; never power from board 3.3V |
| 1602A LCD (HD44780-compatible) | 1 | 16-pin, 4-bit parallel |
| MB102 breadboard power module | 1 | Supplies 5V to servo, sensor, LCD |
| 9V DC wall adapter | 1 | Centre-positive, ≥1A. Not a PP3 battery |
| 10kΩ potentiometer | 1 | LCD contrast |
| 220Ω resistor | 1 | LCD backlight current limiting |
Full pin map: WIRING.md.
| Deneyap pin | Connected to |
|---|---|
| D0 | SG90 PWM signal |
| D1 | HC-SR04 TRIG |
| D11 | HC-SR04 ECHO |
| D4 | LCD Enable |
| D5–D7 | LCD D4–D6 |
| D10 | LCD RS |
| D12 | LCD D7 |
| GND | MB102 GND rail (mandatory common ground) |
The MB102 GND rail must be wired to the Deneyap Kart GND pin — without a shared ground reference, signal levels are undefined.
https://raw.githubusercontent.com/deneyapkart/deneyapkart-arduino-core/master/package_deneyapkart_index.json
Install via Tools → Manage Libraries:
| Library | Author |
|---|---|
| WebSockets | Markus Sattler |
| ESP32Servo | Kevin Harrington |
| ArduinoJson | Benoit Blanchon |
LiquidCrystal and WiFi ship with the board package.
cp firmware/aegis-deneyap/secrets.h.example firmware/aegis-deneyap/secrets.h
Edit secrets.h:
#define WIFI_SSID "your_network_name"
#define WIFI_PASSWORD "your_password"
secrets.h is gitignored and never committed.
firmware/aegis-deneyap/aegis-deneyap.inoTools → Board → Deneyap Kart 1AOn boot, the LCD shows AEGIS v1.0, then Connecting WiFi, then the
board's IP address for ~3 seconds before the radar loop starts.
On the same Wi-Fi network:
http://<ip from LCD or serial monitor 115200>
Served directly from flash — no internet needed after first font load (or
remove the Google Fonts import in dashboard.h for fully offline use).
aegis-embedded-system/
├── assets/
├── firmware/
│ └── aegis-deneyap/
│ ├── aegis-deneyap.ino # Main firmware — radar loop, Wi-Fi, WebSocket
│ ├── dashboard.h # Self-contained dashboard, stored in flash
│ ├── secrets.h # Not committed
│ └── secrets.h.example
├── hardware/
│ ├── aegis.kicad_sch
│ ├── aegis.kicad_pcb
│ ├── aegis.kicad_pro
│ └── HC-SR04/
├── .gitignore
├── README.md
└── WIRING.md
MIT — see LICENSE.
Updated
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