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Ax2WDRobot ESP32 Rover

A WiFi-controlled 2-wheel-drive ESP32 robot platform with a web browser interface, OLED display, camera, and ultrasonic distance sensor.

  • Wheeled
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @abrantix (opens in a new tab), from github.com/abrantix/2wdrobot (opens in a new tab). Pinned to commit 69604c2 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (5 scripts)

Photo and 3D model

This repository has no photo of the robot yet.

3D preview converted from github.com/abrantix/2wdrobot at 69604c2, under MIT. View the original files from GitHub (532 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Controlled over Wi-Fi through an integrated web browser interface, usable from any platform without a dedicated app.
  • Drives two independently controlled DC gear motors.
  • Has an OV2640 camera module with a wide-angle lens.
  • Measures distance with an ultrasonic sensor.
  • Shows status on a 128x64 OLED display.
  • A 6-axis gyroscope is listed, but the documents say there is no firmware support for it yet.

Bill of materials

48 parts
Export parts list (CSV)

48 of 48 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
11042P BT1 FP-1042P-MFG CMP-19636-000019-1 BATTERY HOLDER 18650 SMD TAB1––
222uF/6.3V C1, C2, C4, C44, C45 1608[0603] Cap Capacitor5––
3100nF/50V C3, C5, C6, C7, C9, C10, C12, C13, C15, C16, C18, C19, C25, C26, C28, C29, C30, C31, C32, C33, C36, C37, C42, C43, C48 1608[0603] C Cap Ceramic 0.1uF 50V X7R 20% SMD 0603 125C Paper T/R25––
415pF/50V C8 1608[0603] C Cap Ceramic 06031––
51uF C11, C14, C17, C20, C22, C23, C34, C38, C40, C41 1608[0603] C CAP CER 1UF 10V X5R 060310––
610uF/10V C21, C24, C27, C35, C39 1608[0603] C, Cap Capacitor5––
71206 100uF/6.3V C49 FP-CL31-IPC_B CMP-13271-000821-1 Cap Ceramic 100uF 6.3V X5R �20% SMD 1206 +85�C Embossed T/R1––
8SS34 D1 DIOM449X264X300L114X135N EGF1B 0.5mA@40V 40V Single 3A 0.55V@3A SMA(DO-214AC) Schottky1––
9LED-Blue D2 FP-LTST-C193TBKT-5A-MFG CMP-2000-06624-2 LED BLUE CLEAR CHIP SMD1––
10LED-Green D3 LED0603G LED-G LED GREEN CLEAR CHIP SMD1––
11LED-Red D4 FP-LTST-C193KRKT-5A-MFG CMP-2000-06623-2 LED RED CLEAR CHIP SMD1––
12SRV05-4.TCT D5 SMTC-SOT23-6_V CMP-2000-05358-1 RailClamp(R) Low Capacitance TVS Diode Array, 5 pF, 17.5 VC, -55 to 125 degC, 6-Pin SOT23, RoHS, Tape and Reel1––
13PTC 6V 750mA F1 FP-1206L050YR-MFG CMP-08606-000073-1 PTC RESET FUSE 6V 750MA 12061––
1422uH/2A L1 INDM7166X18N Inductor Inductor1––
15500mA 1.5K@100MHz L2, L3, L4, L5, L6 1608[0603] CMP-0686-00368-3 Chip Ferrite Bead, 0603, 1500O @ 100MHz, 0.5O, 25%, 500mA5––
16Header 4 female 8.5mm P1, P4 BCS-104-L-S-TE Header 4 Header, 4-Pin2––
17FPC Connector 24 pins, top connect P2 AFC07-S24ECA-00 FPC-CONN-241––
18TYPE-C-31-M-12 P3 HRO_TYPE-C-31-M-12-3D TYPE-C-31-M-12 USB Connectors 24 Receptacle 1 8.94*7.3mm RoHS1––
19Header 2 P5, P6 BCS-102-L-S-TE Header 2 Header, 2-Pin2––
20FS8205 Q1, Q5 SOT95P280X145-6N FS8205 Dual N-Channel Enhancement Mode Power MOSFET2––
21MMSS8050 Q2, Q3 SOT-23 NPN1 TRANS NPN 25V 1.5A SOT232––
22AO3401A Q4, Q6 AO-SOT-23-3L_V CMP-2000-05778-1 P-Channel MOSFET, 30 V, 4 A, -55 to 150 degC, 3-Pin SOT-23-3L, RoHS, Tape and Reel2––
2327K R1 J1-0603 Res3 Resistor1––
242K4 R2 1608[0603] R Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R1––
252K7 R3 J1-0603 Res3 Resistor1––
261k R4, R6, R9, R14, R27 1608[0603] R Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R5––
2711K R5 J1-0603 Res3 Resistor1––
281K2 R7 J1-0603 Res3 Resistor1––
29100R R8 J1-0603 Res3 Resistor1––
304k7 R10, R11, R15, R16, R20, R25, R26, R31, R32, R33 1608[0603] R RES SMD 4.7K OHM 1% 1/10W 0603, Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R10––
31470R R17 1608[0603] R YAGEO RC0603FR-07470RL SMD Chip Resistor, Thick Film, 470 ohm, 50 V, 0603 [1608 Metric], 100 mW, 1%, RC Series1––
3212k R18, R19, R21, R22 1608[0603] R Res Thick Film 0603 12K Ohm 1% 1/10W 100ppm/C Molded SMD SMD Paper T/R4––
335k1 R23, R24 1608[0603] R Res Thick Film 0603 5.1KOhm 1% 1/10W 100ppm/C Molded SMD SMD Paper T/R2––
34510R R28 1608[0603] R Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R1––
350R R29 1608[0603] R Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R1––
36620R R30 1608[0603] R Res General Purpose Thick Film 0603 1% 1/10W �100ppm/�C Molded SMD Paper T/R1––
37PCM12SMTR SW1 FP-PCM12SMTR-MFG CMP-2000-06884-2 SWITCH SLIDE SPDT 300MA 6V1––
38B3F-4055 SW2 OMRON-B3F-4055_AX CMP-2000-05902-1 Tactile Switch, 1 to 50 mA, 100 mOhm Max, 5 to 24 VDC, -25 to 70 degC, 4-Pin THD, RoHS, Bulk1––
39MT3608 U1 SOT95P280X145-6N MT3608 High Efficiency 1.2MHz 2A Step Up Converter1––
40TP4056 U2 SOP127P600X175-9N TP4056 Complete single cell Li-Ion battery with a constant current / constant voltage linear charger1––
41TC7SB3157 U3 SOT-363_MP6D TC7SB3157CFU 1-of-2 multiplexer/demultiplexer1––
42TC118S U4, U5 SO08 TC118S2––
43CP2102N U6 QFN28_5X5_SIL CP2102N-A02-GQFN28 Full Speed USB to UART Bridge USB 2.0 3.3V Tube Automotive 28-Pin QFN EP1––
44ESP32-WROVER-E U7 XCVR_ESP32-WROVER ESP32-WROVER Bluetooth, WiFi 802.11b/g/n, Bluetooth v4.2 + EDR, Class 1, 2 and 3 Transceiver Module 2.4GHz ~ 2.5GHz PCB Trace Surface Mount1––
45LM317MDT-TR U8, U9 TO-252_M CMP-0244-00074-1 500mA, Medium Current 1.2 to 37 V Adjustable Voltage Regulator, 3-Pin DPAK, Tape and Reel2––
46AZ1117EH-3.3V U10 SOT-223 AZ1117EH-3.3V IC REG LIN 3.3V 800MA SOT223-41––
47DW01A U11 SOT23-6 DW01A SOT-23-6L Battery Management ICs ROHS1––
48LIS2DW12TR U12 FP-LGA12-DM00170568-MFG CMP-12175-000006-1 ACCEL 2-16G I2C/SPI 12LGA1––

48 of 48 needed parts have no price in the source, so there is no parts total. Read from Hardware/Altium/Project Outputs for Ax2WDRobot/BOM/Bill of Materials-Ax2WDRobot.csv at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Assemble the robot following the assembly instructions
  2. 2Program the robot following the programming instructions
  3. 3Connect to the robot's WiFi access point and open http://192.168.4.1

The guide appears here as you scroll.

Guide by @abrantix (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32-WROVER-E module as the main controller with Bluetooth and Wi-Fi.
  • Two TT gear motors on the drive wheels, with a swivel caster roller for support.
  • OV2640 camera module.
  • RCW-0001 ultrasonic distance sensor.
  • SSD1306 0.96-inch OLED display.
  • 6-axis gyroscope.
  • 18650 lithium-ion battery with a battery protection circuit.
  • TP4056 charger IC, USB-C connector for charging and programming, and a CP2102N USB-to-UART bridge.
  • Motor driver circuitry on the mainboard, built from FS8205 and MOSFETs.
  • Voltage regulators, including an MT3608 step-up converter and AZ1117 3.3 V regulator.

Connections

  • Motors connect to the mainboard in a cross-over arrangement: the left motor plugs into the connector on the right side of the board and vice versa.
  • Red motor wire is positive and black is negative.
  • Camera plugs into a 24-pin FPC connector on the mainboard and is locked by sliding a grey clip.
  • Ultrasonic sensor plugs into the SENSOR connector and the OLED display plugs into the DISPLAY connector.
  • The 18650 battery sits in a holder on the board; its polarity must be checked before insertion.
  • The board is charged and programmed over a USB-C connector.

Cables and connectors

From the parts list.

  • FPC Connector 24 pins, top connect P2 AFC07-S24ECA-00 FPC-CONN-24 × 1
  • TYPE-C-31-M-12 P3 HRO_TYPE-C-31-M-12-3D TYPE-C-31-M-12 USB Connectors 24 Receptacle 1 8.94*7.3mm RoHS × 1