Self balancing robot with ESP32

Hardware

• LOLIN32 Board
• Pololu DRV8833 dual motor driver
• MPU6050
• Pololu micro geared dc motors (high power 6V, experimenting with various gearbox ratios)

Software

• Build&IDE: Platformio
• ESP32 Arduino Core
• For libraries see platformio.ini
• Currently also uses RemoteXY library and app for controll. Just download the RemoteXY library and place it in the lib folder.

Setup and build

• Download and unpack RemoteXY library into lib
• Add src/keys.h with your wifi credentials (if OTA should be supported)
• i2cdevlib needs to be patched to compile for Esp32, see https://github.com/josefadamcik/i2cdevlib/commit/788ecc1614a189ab0fc894ae7d2c7144742922c0 . keys.h

#define MYSSID "ssid"
#define MYPASS "pass"

Licence

• MIT