Maze Robot

Robot Specification

• ESP32 Microcontroller
• 5 x VL53L0X Time-of-Flight (ToF) ranging sensor (3 in front, left and right)
• 3 x TCS34725 Color Sensor, with TCA9548A I2C Mux
• MPU6050 IMU
• 2 x MG310 DC Motor with differential drive configuration
• MDD10A Cytron Motor Driver

ESP32 Peripheral Configuration

• I2C Bus 0 - 3 x TCS34725, ICA9548 I2C Mux
• I2C Bus 1 - 5 x VL53L0X, MPU6050
• General Purpose Timer (GPTimer) with 4ms ISR for sensor sampling task
• MCPWM 20kHz with comparator resolution of 2000
• PCNT 2 Unit for 2 wheel encoder

File Structure and Program Organization

• main.c is the main code for robot logic and peripheral initialization
• Sensor drivers' header and C file like mpu6050.h and vlx53lox.c contains sensor functions like initialization and reading
• Some time critical sensor sampling code are implemented in main.c instead of the sensor driver

Building and flashing

The project is writted using ESP-IDF APIs. Activation of the ESP-IDF environment is required before using the idf.py command. See Step 4. Set up the Environment Variables

To build and flash

git clone https://github.com/seapanda0/maze_robot.git
cd maze_robot
idf.py build
idf.py flash