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Wheelly is a wheeled mobile robot.

Overview

It consists of:

• Chassis with two lateral wheels driven by 2 DC motors and a free wheel
• 2 IR speed sensors for wheel odometry
• L298N motor driver board
• 12V Li-ion battery (rechargeable)
• 5V Li-ion battery (rechargeable)
• 3.3V power supply module
• MPU6050 gyroscope module
• SG90 micro servo
• 2 VL53L0X LiDAR sensors
• LCD display
• 6 microswitch contact sensors
• ESP32-CAM module
• ESP32 main controller board

System Architecture

The ESP32 controller manages all sensors and actuators to:

• Collect sensor data
• Estimate robot position relative to the initial state
• Control LiDAR scanning direction
• Drive motors with feedback from gyroscope and speed sensors
• Communicate via WiFi using MQTT (Mosquitto broker)
• Send status updates and receive commands

The ESP32-CAM module also connects via WiFi to the MQTT broker.

Related Projects

• ESP32 controller code: Wheellino project
• ESP32 controller wiki: Wheellino wiki
• Camera proxy code: Wheellycam

Release

Current version: 0.26.0