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 and is behind the display in this picture.

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.

In October this small bot has a bluetooth GATT server for control and status readback functioning.  A simple Android Studio app has been developed for basic control with the goal of a nicer app to monitor and control the bot hopefully soon.

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.

As of Oct 2017 we have drivers running as shown for a 1.8" TFT color display that is very helpful to indicate the state of this small bot.  The display is controlled over SPI and it's controller is the ST7735 controller.  I have added on top of the low level driver routines to do bargraph and checkboxes seen here.  Checkboxes show down-facing edge sensor state.

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 there are 5 VL53L0X time of flight distance detecting sensors.   Two face down on the left and right for edge of table detection and 3 face forward with outter two slightly pointing to right and left.  This picture shows the ranges for the 3 in yellow.

The picture also shows for right and left motors a bar graph for speed setting in white and measured wheel encoder speed in yellow so 4 bar graphs for wheel speed indication.
Mark-World - Tech Projects To Amuse The Curious
Espresso Bot