19. Final Project Requirements¶
Slide¶
Video¶
What does it do?¶
This project is a Wi-Fi-controlled rover powered by an ESP DevKit-V1 microcontroller. It moves forward, backward, and turns using a custom web interface that runs in any phone browser.
Each wheel is driven independently via DC motors and Toshiba TB67H451FNG motor drivers mounted on a custom PCB that I designed in KiCad.
The chassis and wheels were designed in Fusion 360 and 3D-printed. The wheel rollers were molded and cast in silicone and resin to improve traction. Power is supplied by a six AA battery pack, which solved earlier power issues with AAA and 9V batteries.
This project combines electronics design, embedded programming, networking, molding and casting, 3D design, and system integration into a fully working robotic system.
➡️ Week 1 – Final Project Concept
Who’s done what beforehand?¶
Mecanum-style and omnidirectional robotics have been used in many robotics competitions and research projects. However, this project is unique because it integrates:
- A custom PCB with four Toshiba TB67H451FNG motor drivers
- Custom casted wheel rollers
- A pickup-style 3D-printed chassis
- A web-based control interface on ESP32
Previous Fab Academy documentation and
Mr. Budzichowski’s DC motor work were major inspirations.
What did you design?¶
- Fully custom 3D-printed chassis
- Custom PCB for ESP32 + motor drivers
- Web interface hosted by the ESP32
- Custom wheels & adapters designed in Fusion 360
- Molded and casted rollers for traction
- Electrical power distribution system
➡️ Week 2 – Project Development
What sources did you use?¶
- ESP32 DevKit-V1 documentation
- Toshiba TB67H451FNG datasheet
- Fab Academy archives for motor control
- Arduino IDE and ESP32 libraries
- GitHub example code for PWM motor control
- YouTube tutorials on molding, casting, and network control
- Guidance from
Mr. Budzichowski
What materials and components were used?¶
- ESP32-DevKit-V1
- 4× DC hobby motors
- 4× Toshiba TB67H451FNG motor drivers
- 6× AA battery pack
- 3D-printed parts (PLA)
- Silicone and resin rollers
- Wiring, resistors, capacitors, connectors, screws
➡️ Week 17 – Bill of Materials
Where did they come from?¶
| Source | Items |
|---|---|
| FabLab inventory | PLA, wiring, silicone, resin |
| Amazon / AliExpress | ESP32, motors, battery pack |
| Hardware store | M3 screws, nuts |
| Personal supply | Early prototypes |
How much did they cost?¶
| Component | Cost |
|---|---|
| ESP32 DevKit-V1 | $20 |
| DC Motors (x4) | $40 |
| Toshiba Drivers | Provided / $0 |
| PLA / 3D Printing | $30 |
| Silicone & Resin | $15 |
| Battery Pack | $10 |
| Misc. Components | $5 |
| Total | ~$120 |
What parts and systems were made?¶
- Custom PCB design
- Web control interface
- Molded & casted wheel rollers
- 3D-printed chassis and adapters
- Motor control firmware
- Power distribution setup
➡️ Week 14 – Interface & Programming
What processes were used?¶
- CAD modeling (Fusion 360)
- 3D printing (PLA)
- PCB milling and soldering
- Molding and casting (silicone/resin)
- Embedded programming (C++ / Arduino)
- ESP32 web server and networking
- Mechanical assembly
What questions were answered?¶
- Can each motor be controlled independently? → ✔ Yes
- Can a web interface control motion in real time? → ✔ Yes
- Can wheel traction be improved? → ✔ Yes, using casting
- Was power an issue? → ✔ Solved using AA battery pack
- Can everything fit into a compact chassis? → ✔ Yes
What worked? What didn’t?¶
✔ Worked:¶
- Real-time web control
- PCB motor driver integration
- Silicone/resin rollers
- Wi-Fi connection reliability
✖ Needs Improvement:¶
- Occasionally jammed rollers
- More precise turning behavior
- No camera system (yet)
How was it evaluated?¶
- Responsiveness of the web interface
- Motor accuracy & reliability
- Mechanical movement & traction
- Power distribution stability
- Robustness of chassis design
The rover performs consistently and is fully remotely controllable.
What are the implications?¶
This rover could serve as:
- A robotics learning platform
- A remote inspection/scouting tool
- A prototype for mobile AI systems
- A foundation for autonomous navigation research
It demonstrates how electronics, manufacturing, programming, and mechanics can be fully integrated into a compact robotic system.