Omni-Directional Robot with ESP32 and Arduino Motor Shields

Overview

This project implements a versatile omni-directional robot controlled via an ESP32 microcontroller, featuring four omni-directional wheels each powered by individual DC geared motors. Two Arduino boards, each equipped with motor shields, manage precise control over the wheels, enabling smooth, multi-directional movement such as forward, backward, turning left/right, and diagonal movements.

The ESP32 acts as the central communication hub, hosting a web server for remote control via a user-friendly web interface and managing communications through the I²C protocol to coordinate the Arduino slaves.

Hardware Components

• ESP32 Microcontroller: Manages Wi-Fi connectivity, hosts the web server, and communicates via I²C.
• Arduino Uno/Nano Boards (x2): Function as I²C slave devices controlling the motor shields.
• Arduino Motor Shields (x2): Allow individual control over each DC geared motor, enabling precise directional movement.
• Omni-Directional Wheels (x4): Enable smooth and versatile directional mobility without mechanical steering systems.
• DC Geared Motors (x4): Provide strong and reliable torque to power the robot wheels.

Communication Protocol

The ESP32 communicates with the Arduino boards via I²C, sending integer command values to instruct wheel movements:

• 1: Forward
• 2: Backward
• 3: Turn Left
• 4: Turn Right
• 5: Diagonal Forward Left
• 6: Diagonal Forward Right
• 7: Diagonal Backward Left
• 8: Diagonal Backward Right
• 0: Stop

Software Components

• ESP32 Web Server: Hosts an intuitive web interface for remote control using WebSockets for real-time responsiveness.
• Arduino Firmware: Listens for I²C commands from the ESP32 and controls motor directions and speeds accordingly.

Web Interface

The robot is controlled via a responsive web interface designed with mobile compatibility. Users interact using directional buttons to command robot movement.

Setup and Usage

1. Hardware Assembly:

• Connect ESP32 to two Arduino controllers via I²C lines (SDA, SCL).
• Attach motor shields to Arduino boards and connect motors appropriately.

2. Firmware Installation:

• Flash the ESP32 code provided in esp32_code.ino.
• Flash Arduino boards with respective arduino1.ino and arduino2.ino firmware.

3. Wi-Fi Configuration:

• Update Wi-Fi credentials in ESP32 firmware.
• Connect to the ESP32-hosted Wi-Fi network to access the web interface.

4. Running the Robot:

• Navigate to the ESP32's local IP address in your web browser.
• Use directional buttons for real-time control.

Applications

• Educational robotics
• Remote surveillance platforms
• Automated logistics
• Interactive demonstration robots

Contributions

Feel free to fork, improve, and contribute to this project by opening pull requests or raising issues for discussion.

License

This project is open-source under the MIT License.