Wall-E version 2.7

Code repository for Wall-E_v2.7

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Table of Contents

• About the Workshop
• Architecture
• Installation
• Examples
• Resources
• Contribution
• License

About the Workshop

Wall-E

Wall-E Bot Self-Balancing	Wall-E Bot with OLED Display	Wall-E Bot with LED Matrix

Wall-E is a two-wheeled educational self balancing and line following robot developed by SRA-VJTI, designed to teach embedded robotics concepts such as control theory (PID), and embedded communication. The brain of the robot is an ESP32 microcontroller paired with a custom-made SRA development board.

This repository hosts the firmware, demo projects, and study material used in SRA VJTI's Wall-E workshop. With features like inbuilt Wi-Fi support and BLE, and extensive application in several domains like IoT, RF, etc, The workshop entails various essential concepts such as PID Control, Embedded Communication Protocols, PWM, Filters, RTOS, etc. and gives its attendees (first-year students) a general idea about the world of robotics and embedded hardware.

Architecture

Hardware

• ESP32 Microcontroller: central processing, sensor reading, control loops
• SRA Development Board: custom PCB that connects ESP32 to sensors, motor drivers, power supply, etc.
• Sensors
  • MPU6050 IMU (gyro + accelerometer) for self balancing
  • Light Sensor Array (LSA) for line following
• Actuators: Dual DC motors (controlled via PWM)
• Communication: I2C, SPI, UART for peripheral communication
• User Interface
  • (Optional) OLED display for local feedback

Software

• Built using ESP-IDF, leveraging tasks in FreeRTOS.
• WebSocket interface for real-time tuning : dynamic tuning via WebSocket without reflashing firmware.
• runs Conway's Game of Life on the SRA Board LED matrix using ESP-IDF

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Installation

• For Installation, please refer to these instructions
• You can also refer to Step-by-Step official guide by espressif

Examples

TOPIC	Link	Description
LED Matrix	LED_Matrix	Performing LED Blink by connecting the LED with esp32
Light Sensing Array	LSA	Sensing Array that uses different Light Sensors, majorly used for Line-Following
MPU6050	MPU	Motion controlled MPU measures angles with respect to 6 Degrees of Freedom
Pulse Width Modulation	PWM	Calculate average voltage and controls speed accordingly
Line-Following	Line_Following	Line-Following algorithm that enables the bot to follow the path of white line
Self-Balancing	Self_Balancing	Self-Balancing algorithm that enables the bot to balance its weight under the force of gravity

Running the Example Projects

1. Choose an Example

Navigate to one of the examples in the examples directory under Wall-E.

cd components/sra-board-component/examples/<example_name>

2. Configure

Opens the ESP-IDF configuration menu where you can set project options, enable features, and adjust hardware settings.

idf.py menuconfig

3. Build and Flash

Builds the project, flashes it to the ESP32, and starts the serial monitor to view real-time logs.

idf.py build
idf.py flash
idf.py monitor

Resources

• Please visit and look at our Custom-made SRA development board
• Visit ESP-IDF SRA board Components to have a detailed information about the components of SRA board

SRA development board

Contribution

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are extremely appreciated.

• See the open issues for a list of proposed features (and known issues).

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

• Distributed under the MIT License