KART-E: ESP32 Grid Navigator Robot

A complete robotics project featuring an autonomous grid-navigating robot powered by ESP32 with Bluetooth Low Energy (BLE) control and a modern React-based web interface.

📋 Project Overview

KART-E is a sophisticated mobile robotics platform that combines embedded systems programming with a user-friendly web control interface. The robot autonomously navigates grid-based environments using encoder feedback and PID control, while communicating with a web application via Bluetooth Low Energy.

Key Features

• ESP32-based Robot Controller: Dual motor control with encoder feedback and PID tuning
• Grid Navigation: Autonomous pathfinding and position tracking on grid layouts
• BLE Communication: Real-time wireless control and telemetry
• Modern Web Dashboard: React + Vite + Tailwind CSS interface for monitoring and control
• Calibration Tools: HTML-based calibration page for motor tuning
• Emergency Controls: Safety systems and manual override capabilities
• 3D Models: Complete 3D design files for 3D printing and fabrication

📁 Project Structure

KART-E/
├── kart-e webapp/               # React web control interface
│   └── kart-e/
│       ├── src/                 # React components and styling
│       ├── package.json         # Node dependencies
│       ├── vite.config.js       # Vite build configuration
│       ├── tailwind.config.js   # Tailwind CSS config
│       └── postcss.config.js    # PostCSS configuration
│
├── esp32 code.ino              # Main ESP32 firmware
├── calibration page with remote tuning.html  # Motor calibration interface
│
├── 3D Models/
│   ├── main body with basket holder.stl
│   └── sc07 grpE site model.obj
│
├── Documentation/
│   ├── A0 Poster.pdf
│   ├── Design process and iteration testing.pdf
│   ├── SC07 Group E all in one.pdf
│   ├── FinalEx_SC07_TeamE_AIReflection.pdf
│   └── critical images.pdf
│
└── Media/
    └── sc07 grpE Kart-E video.mp4

🛠 Hardware Requirements

• Microcontroller: ESP32-WROOM
• Motor Driver: Cytron MDD20A
• Motors: 2x DC Motors with rotary encoders
• Sensors:
  • HC-SR04 Ultrasonic Distance Sensor
  • Rotary encoders (motor feedback)
• Communication: Bluetooth Low Energy (BLE) capable device
• Power: Battery supply for motors and ESP32

🚀 Getting Started

ESP32 Firmware Setup

1. Install Arduino IDE or PlatformIO
2. Install ESP32 board support
3. Install required libraries:
   • BLEDevice
   • BLEServer
   • BLEUtils
   • BLE2902
4. Upload esp32 code.ino to your ESP32 board

Web Interface Setup

1. Navigate to the webapp directory:

   cd "kart-e webapp/kart-e"

2. Install dependencies:

   npm install

3. Start the development server:

   npm run dev

4. Build for production:

   npm run build

Motor Calibration

1. Open calibration page with remote tuning.html in a web browser
2. Connect to the robot via BLE
3. Adjust PID parameters in real-time
4. Monitor encoder feedback and motor response

🎮 Usage

Web Dashboard

• Monitor robot position and status
• Send navigation commands (X, Y coordinates)
• Adjust motor speeds and PID parameters
• Emergency stop functionality
• Real-time telemetry display

Calibration

• Fine-tune motor speeds for precise grid navigation
• Test motor responses individually
• Calibrate encoder readings
• Adjust acceleration profiles

🔧 Key Technologies

Embedded Systems

• Language: Arduino C/C++
• Protocol: BLE (Bluetooth Low Energy)
• Control: PID control loop for motor regulation
• Feedback: Rotary encoders for position tracking

Web Application

• Framework: React 19
• Build Tool: Vite
• Styling: Tailwind CSS
• Testing: Jest + React Testing Library
• UI Components: Lucide React Icons

📊 Control System Architecture

The robot uses a dual-loop control system:

1. Motor Level: PID control for individual motor speed
2. Navigation Level: Autonomous grid-based pathfinding
3. Communication: BLE wireless link for command/telemetry

📝 Design Documentation

• Project Poster: A0 format poster with project overview
• Design Process: Detailed iteration testing and refinement documentation
• Complete Overview: Comprehensive project summary document
• AI Reflection: Insights on AI usage in the project development
• Critical Images: Key design and implementation visuals

🎥 Media

See sc07 grpE Kart-E video.mp4 for a demonstration of the robot in action.

🔌 BLE Communication Protocol

Service UUID

4fafc201-1fb5-459e-8fcc-c5c9c331914b

Characteristic UUID

beb5483e-36e1-4688-b7f5-ea07361b26a8

Command Format

• Navigation: Send target coordinates (X, Y)
• Motor Control: Individual motor speed commands
• Calibration: Real-time PID parameter adjustments
• Emergency Stop: Immediate motor halt

Telemetry

• Motor speeds and directions
• Encoder position feedback
• Distance sensor readings
• Battery voltage
• System status

🤝 Contributing

Contributions are welcome! Please see CONTRIBUTING.md for guidelines.

Areas for Improvement

• Enhanced autonomous navigation algorithms
• Obstacle avoidance and SLAM implementation
• Machine learning for path optimization
• Mobile app for iOS/Android
• Advanced sensor integration (IMU, LiDAR)

📜 License

This project is open source and available under the MIT License.

👥 Team

Developed as part of SC07 Group E project.

📞 Getting Help

• Review the design documentation for implementation details
• Check calibration page for motor tuning guidance
• Consult Arduino IDE documentation for firmware modifications
• See React documentation for web interface customization

🎯 Future Enhancements

• Autonomous mapping and navigation
• Multiple robot coordination
• Advanced sensor suite (IMU, compass)
• Cloud-based monitoring and logging
• Machine learning path optimization
• Mobile app interface
• Real-time video stream integration

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Status: Active Development | Last Updated: March 2026