This is the firmware for a small warehouse robot we built around an ESP32. It reads a handful of sensors, watches its IMU for things like bumps and free-falls, drives a two-wheel base, swings a little four-joint arm that can pick things up, and reports everything it sees to an MQTT broker. You drive it and command the arm over MQTT too.
Read our report here
- Sebastian Muchui
- Gloria Ngei
- Glen Okoth