🦣 Mastodon-MBTI Project

ESP32-based LEGO robotics car controlled via PS4 controller with autonomous navigation capabilities

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📹 Project Demo

Watch our project presentation:

Click the image above to watch the full demonstration

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💻 Installation

Prerequisites

• PlatformIO (recommended)
• USB cable for ESP32 programming
• PS4 controller

Setup Instructions

1. Clone the repository

   git clone <repository-url>
   cd mastodon-mbti

2. Install dependencies

   PlatformIO will automatically install required libraries:

   • PS4Controller by aed3
   • ESP32Servo

3. Configure PS4 Controller MAC Address

   Use SixaxisPairTool to pair your PS4 controller with the ESP32's Bluetooth MAC address.

   Update in src/main.cpp:

   const char* PS4_MAC_ADDRESS = "YOUR:ESP32:BLUETOOTH:MAC";

4. Build and Upload

   Using PlatformIO:

   pio run --target upload

Or use the PlatformIO GUI in VS Code.

5. Monitor Serial Output

   pio device monitor

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🔧 Hardware

Pin Configuration

// Motor Control
#define MOTOR_PIN1          12
#define MOTOR_PIN2          13
#define MOTOR_ENABLE_PIN    15

// Steering
#define SERVO_PIN           18

// Sensors
#define ULTRASONIC_TRIG_PIN 5
#define ULTRASONIC_ECHO_PIN 4

// Lighting
#define BRAKE_LIGHT_PIN     17
#define FIXED_LED_PIN       16
#define LEFT_BLINKER_PIN    23
#define RIGHT_BLINKER_PIN   21
#define LEFT_BLINKER_PIN_2  19
#define RIGHT_BLINKER_PIN_2 22

// RGB LED
#define RGB1_RED_PIN        25
#define RGB1_GREEN_PIN      26
#define RGB1_BLUE_PIN       27

// PS4 Feedback
#define PS4_FEEDBACK_LED_PIN 2

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🏗️ Software Architecture

Class Structure

Class	Responsibility	Key Methods
RemoteControl	PS4 controller management	begin(), update(), handleButtons()
Motor	DC motor speed control	setSpeed(), brake(), emergencyStop()
Steering	Servo-based direction	setDirection(), setDirectionFromJoystick()
Blinkers	Turn signal management	toggleLeftBlinker(), toggleRightBlinker()
Lights	Brake/headlight control	startBrakeLights(), stopBrakeLights()
Ultrasonic	Distance measurement	getDistance(), isObstacleDetected()
AutoMode	Autonomous navigation	toggle(), update()

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🎮 Usage

PS4 Controller Mapping

Manual Mode

Button/Trigger	Function
R2 (Right Trigger)	Throttle (forward)
L2 (Left Trigger)	Reverse
Left Joystick (X-axis)	Steering
L1	Toggle left turn signal
R1	Toggle right turn signal
Triangle	Toggle warning lights
Cross (X)	Turn on feedback LED
Circle (O)	Turn off feedback LED
OPTIONS	Toggle autonomous mode

Autonomous Mode

When activated with OPTIONS button:

• Robot drives forward automatically
• Detects obstacles with ultrasonic sensor
• Reverses when obstacle < 20cm
• Turns to avoid obstacle
• Returns to forward motion

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📚 Documentation

Project Documents

• 📊 Project Pitch Presentation - 3-minute overview
• 📝 Work Logs - Detailed development timeline
• 📋 Technical Report - In-depth technical analysis

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👥 Team

Project Members:

• Maximilian Lopizzo - maximilian.lopizzo@eduvaud.ch
• Bryan Zweiacker - bryan.zweiacker@eduvaud.ch
• Ilyass Chelli - ilyass.chelli@eduvaud.ch
• Trystan Gaillard - trystan.gaillard@eduvaud.ch

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📄 License

This project is licensed under the MIT License - see the LICENSE file for details.