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Papaya Pathfinder

Open-source, fully 3D-printable ESP32 rover platform with WiFi or ExpressLRS control, available in two variants.

  • Wheeled
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @tronxi (opens in a new tab), from github.com/tronxi/papaya-pathfinder (opens in a new tab). Pinned to commit f2709be (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
Apache-2.0 (opens in a new tab)
Software license
Apache-2.0 (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 (1 file marked executable, 1 script, 1 program or installer)

Photo and 3D model

This repository has no photo of the robot yet.

3D preview converted from github.com/tronxi/papaya-pathfinder at f2709be, under Apache-2.0. View the original files from GitHub (3.2 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Remote-controlled small rover based on the ESP32, with two variants: Papaya Pathfinder and Papaya Pathfinder Mini.
  • Can be operated over WiFi (HTTP API for movement commands) or ExpressLRS (ELRS), depending on firmware.
  • WiFi firmware on the Mini supports live video streaming over WiFi.
  • Controlled with a gamepad through a Python desktop controller or an Android mobile app.
  • Steering uses servos on the full Pathfinder; rocker-bogie suspension with a differential bar is described for both variants.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @tronxi (README.md), under Apache-2.0.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32 controller board (Pathfinder); ESP32-CAM or ESP32-S3-CAM on the Mini.
  • ELRS receiver, required only for the ELRS firmware.
  • Two BTS7960 43A motor drivers (or similar high-current drivers) on the Pathfinder.
  • Six GA25 DC gear motors and four MS24 steering servos on the Pathfinder.
  • Six N20 DC gear motors on the Mini.
  • LiPo 3S battery on the Pathfinder; LiPo 2S battery on the Mini.
  • UBEC 5V/3A for the ESP32 and UBEC 6V/8A for the servos on the Pathfinder.
  • DC-DC step-down converters to 5V (controller) and 6V (motors) on the Mini.

Connections

  • Pathfinder power distribution: LiPo 3S feeds separate UBECs for logic (5V) and servos (6V), plus the motor power rails.
  • Pathfinder motors: two BTS7960 drivers, each controlling one side of the rover; the ESP32 supplies PWM signals to each driver.
  • Pathfinder servos: powered by a dedicated 6V UBEC, with PWM control signals from the ESP32.
  • Mini: a system overview schematic combines power, motor drivers and control logic; the documents give no further pin-level detail.