v2.0.0 - Production Ready
🎉 Release v2.0.0
✨ Features
- Self-Balancing Robot - Stable balance on two wheels with PID control
- Line Tracking - 5-sensor array with weighted average position detection
- Obstacle Avoidance - VL53L0X laser sensor with emergency stop
- Slope Detection - Z-axis accelerometer with 2x speed reduction on hills
- Web Interface - Interactive joystick control with real-time sensor display
- WiFi Control - REST API for remote robot control
- Real-Time Control - 100Hz control loop for responsive operation
🔧 Hardware
- ESP32 (30-pin development board)
- MPU6050 (6-axis IMU)
- VL53L0X (Time-of-flight distance sensor)
- Ldabrye 5-sensor line follower
- 2x NEMA17 stepper motors with drivers
- WiFi connectivity
📚 Documentation
- ✅ Complete README (Russian & English)
- ✅ Full wiring diagram with GPIO pinout
- ✅ 3 test sketches (line sensor, distance sensor, motors)
- ✅ Breadboard layout guide
- ✅ Troubleshooting guide
- ✅ Contributing guidelines
- ✅ Code of conduct
- ✅ MIT License
🎮 Control Modes
- IDLE - Waiting for command
- STRAIGHT - 2-second automatic straight drive
- LINE_FOLLOW - Automatic line tracking
- STOPPED - Emergency stop on obstacle
🧪 Testing
Three comprehensive test sketches included:
- test_line_sensor.ino - Validates all 5 line sensors
- test_distance_sensor.ino - Tests VL53L0X with ASCII visualization
- test_motors.ino - Verifies motor synchronization and speed
📊 Performance
- Control Loop: 100Hz (10ms cycle)
- Web API Response: <50ms
- Balance Stability: ±2° angle tolerance
- Line Tracking: ±5cm accuracy
- Power Consumption: ~500mA
🚀 Getting Started
- Edit WiFi credentials in esp32_robot_main.ino
- Install required libraries (AsyncTCP, ESPAsyncWebServer, VL53L0X)
- Upload esp32_robot_main.ino to ESP32
- Open http://192.168.X.X in your browser
- Use joystick to control the robot
📖 Full Documentation
- README - Russian guide
- README_EN - English guide
- CONTRIBUTING - Contribution guidelines
- TAGS - GitHub topics and keywords
- CHANGELOG - Version history
- LICENSE - MIT License
👨💻 Contributors
- Anton (@Mukller) - Lead Developer
📜 License
MIT License - Free for personal, educational, and commercial use
Status: ✅ Production Ready | Stable & Tested
Contributors
Mukller