EsparGo Bot In Driving Mode
Espresso Bot - Small Bot Based On Powerful Esp-32 Processor

This is a 6 inch long small bot that was made to show off the Mark-Toys Espressif Esp-32 module.   The picture is at an odd angle that makes the straight right wheel looks out of alignment but it is ok.

The Esp-32 board by Mark-Toys is the brain for this bot and can be seen in the picture above. 

The board has been done to have connectors for PWM outputs suitable for motor control and those then go to the small blue board that has the higher current motor drivers.

The Esp32 dev board can be seen on the IoT page of this webpage.

A key feature of the Esp-32, besides the 3 PWM ports, is that the versatile pulse counters on the Esp-32 can do the up/down counting controlled by the A and B outputs of standard QEI wheel encoders.   The dev board has 2 connectors that bring out the signals for connection to Pololu encoders which are in use on this bot for wheel odometry.

The board accepts either a micro usb for 5V power but also can run as on this bot from a 7.3 volt LiPo cell under the bot where I have a digital meter to show me it's level.

On the front of this bot the Mark-Toys  modulated IR tiny boards that use the Sharp IS471 detectors to sense the edge of the table.   The backside of the boards have a yellow led to give visual detection to us humans when the edge of a table has been seen by this bot which is a table bot that lives and plays on top of a table.
Mark-World - Tech Projects To Amuse The Curious
Espresso Bot