Sheldon Rover

Physics PhD meets abandonment issues and motor control.

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🤖 Sheldon Rover (ESP32)

"Bazinga!" - A personality-driven, web-controlled rover powered by ESP32.

ESP32 Status License

The Sheldon Rover is an interactive robot platform that combines autonomous exploration with manual web control. It features "Soft Start" motor logic for battery safety, a dual-mode control system (Auto/Manual), and a personality engine that triggers audio events.

🚀 Features

  • 🕹ī¸ Dual Control Modes:
    • Drive: Switch between Smart Auto (Camera Tracking) and Safe Manual (Joystick Only).
    • Voice: Switch between Auto-Banter (Reacts to people) and Manual Triggers.
  • 🔊 Audio Core:
    • Plays "Bazinga" and other clips stored in Flash Memory (LittleFS).
    • Smart Debouncing (No looping audio).
  • 🔋 Soft-Start Physics:
    • Motors ramp up gently to prevent brownouts.
    • Coast delays protect the H-Bridge and battery.
  • đŸ’ģ Clean Web UI:
    • A modern, dark-themed control panel hosted directly on the robot.

📂 Project Structure

├── 📁 data/ # Web UI (HTML) & Audio Files (.mp3) ├── 📁 docs/ # Documentation & Guides │ ├── API_REFERENCE.md # API for App Developers │ ├── WIRING.md # Wiring Digram │ └── WALKTHROUGH.md # Features Overview ├── 📁 examples/ # Hardware Diagnostic Scripts ├── 📁 src/ # Main Firmware (C++) └── platformio.ini # Build Configuration

🛠ī¸ Quick Start

1. Hardware Setup

Connect your ESP32 + L298N Driver using the verified pin map:

  • Left Motor: Pins 4 & 5
  • Right Motor: Pins 6 & 7
  • (See docs/WIRING.md for full guide)

2. Flash Firmware

Using PlatformIO:

# 1. Upload the File System (Web UI + Audio) pio run --target uploadfs # 2. Upload the Firmware pio run --target upload

3. Connect

  1. Connect to Wi-Fi: SheldonRover (Password: bazinga123)
  2. Open Browser: http://192.168.4.1

📡 API Endpoints

Method Endpoint Description
POST /move Drive Manually (x, y)
POST /event Trigger Audio ({"event": "bazinga"})
POST /mode Set Modes ({"drive": "AUTO"})
GET /status Check Mode & Health

(See docs/API_REFERENCE.md for full details)

🔋 Hardware Notice

If you experience brownouts (ESP32 restarting when motors move):

  1. Ensure you are NOT using a standard 9V battery (too weak).
  2. Use a 2S LiPo (7.4V) or high-current AA pack.
  3. Check the "Soft Start" logic in src/main.cpp.

Verified Stable Build: Jan 2026

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