13.Mid Term Review¶

Final Project: Delivery Robot¶

System Diagram¶

        +---------------------+
        |   Web Interface     |
        | (HTML/CSS/JS over   |
        |   ESP32 Wi-Fi AP)   |
        +----------+----------+
                   |
                   v
        +---------------------+
        |       ESP32         |
        |  Wi-Fi + WebServer  |
        | UART → Hoverboard   |
        |  Motor Controller   |
        +----+------+---------+
             |      |
             |UART  |GPIO
             v      v
     +-------------+-------------+
     | Hoverboard Motor Driver   |
     |  (original hoverboard PCB)|
     +------+------+-------------+
            /        \
           /          \
 +--------+            +---------+
 | BLDC Motor (Left)   | BLDC Motor (Right)
 +---------------------+--------------------+

      +---------------------+
      | IR Sensors (Front)  |
      |   Obstacle Detect   |
      +----------+----------+
                 |
                 v
            ESP32 GPIO

      +---------------------+
      |   Battery 36V       |
      | Step-Down 15V→5V    |
      | Step-Down 5V→3.3V   |
      +---------------------+

      +---------------------+
      |  Storage Box (PVC)  |
      |  3D-printed parts   |
      |  CNC wooden chassis |
      +---------------------+

      +-------------------------+
      | Future Extension:       |
      |  • Jetson Nano          |
      |  • LiDAR RPLIDAR A3 Pro |
      |  • ROS2 SLAM            |
      +-------------------------+

Tasks To Be Completed¶

Electronics¶

• Design final custom PCB (ESP32 + power + sensors)

• Mill FR1 board on SRM-20

• Solder all components and test continuity

• Implement safe UART communication with hoverboard controller

Mechanical¶

• Finish CNC-cut wooden chassis

• Finish PVC storage box using CNC mill

• 3D-print structural components and mounts

• Assemble motor mounts and wheel system

Software¶

• Finalize ESP32 firmware (ESP-IDF)

• Improve web interface: joystick, buttons, status

• Implement safety timeout on communication

• Add IR obstacle-detection logic

Power System¶

• Integrate hoverboard 36V battery

• Install step-down converters 15V→5V, 5V→3.3V

• Add fuse and protection

Future Add-Ons (after final project)¶

• Jetson Nano integration

• LiDAR RPLIDAR A3 Pro mount

• ROS2 navigation stack (SLAM)

Schedule¶

Week 1 – Electronics Design¶

• PCB schematic + layout in KiCad

• Prepare milling files

• Order or collect missing components

Week 2 – CNC & Mechanical Fabrication¶

• CNC-cut chassis

• CNC-cut PVC box

• 3D printing of mounts

• Mechanical assembly

Week 3 – Electronics Production¶

• Mill PCB

• Solder components

• Power distribution wiring

• Test ESP32 + sensors

Week 4 – Firmware & Networking¶

• ESP32 web server development

• UART protocol finalization

• Motor control stability tests

• Obstacle detection integration

Week 5 – System Integration¶

• Mount electronics inside chassis

• Route cables properly

• Test drive robot with load

Week 6 – Final Testing & Documentation¶

• Continuous driving tests

• Fine-tuning

• Shooting photos and videos

• Writing final documentation

Instructor Meeting Summary¶

I will meet with my:¶

• Local instructor (Waag Lab)

• Global instructor during Global Review

to present:¶

• System diagram

• Task list

• Timeline

• Weekly assignment progress

• Current state of mechanical + electronics work