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An open-source ESP32-S3 rover prototype for browser control, independent live vision, embedded interfaces, and enclosure design.
Website · Build & flash · Safety · API · Pin map · Top-cover CAD
Warning
Fraud alert / 防詐提醒
Any @gmail.com address claiming to represent Tokimi is not an official Tokimi contact channel; do not pay or share verification codes.
任何以 @gmail.com 結尾、並自稱代表 Tokimi／時見數位科技的帳號，都不是 Tokimi 官方聯絡管道；請勿付款或提供驗證碼。
Verify only through / 請只透過： tokimi.space · ben@tokimi.space
Warning
Supervised prototype only — not a production vehicle, safety controller, or emergency-stop system. Lift every driven wheel and keep a physical motor-power disconnect within reach before powering or changing the rover.
- An older in-flight movement request can arrive after browser STOP and resume motion.
- The 750 ms watchdog is a main-loop threshold, not a guaranteed stop deadline.
- The TB6612FNG has a reported overload/thermal-shutdown history under sustained four-motor load.
- The PWM ceiling is 80%. There is no current/temperature sensing, soft start, or enforced reversal dead time.
- A full 2S pack can reach 8.4 V, above the reported motors' 7.2 V rating.
Read Safety and Known issues before connecting motor power. A successful build is not a physical hardware test.
| Rover controller | Camera node | |
|---|---|---|
| Board | ESP32-S3 N16R8 | GOOUUU ESP32-S3-CAM V1.5 |
| Role | Motors, browser UI, OLED, 32 WS2812 pixels | OV3660 capture, MJPEG stream, diagnostics |
| Network | Dedicated Wi-Fi AP and HTTP UI | Separate Wi-Fi AP and HTTP UI |
| Build | PlatformIO / Espressif32 7.0.1 | PlatformIO / Espressif32 6.12.0 |
CODE-CONFIRMED: the controllers have no GPIO, serial, I²C, SPI, HTTP, or other application link. Camera failure cannot directly block motor code, but the rover cannot report camera health. Separate APs do not guarantee RF isolation.
| Area | Current implementation | Details |
|---|---|---|
| Drive | Eight directions, STOP, speed control, browser heartbeat | Rover firmware · API |
| Vision | JPEG capture, one MJPEG stream, status page | Camera firmware · API |
| Interface | Animated OLED faces, timed expressions, SOS, three lighting zones | Implementation |
| Hardware | Audited pin map, reported wiring and prototype BOM | Pin map · Hardware record |
| Enclosure | Blender source, editable BLEND, 3MF/STL/OBJ and A4 fit sheet | Supercar V3 CAD |
Not implemented: battery/current/temperature sensing, low-voltage, stall, or obstacle protection, encoders, IMU, GPS, LoRa, autonomy, API authentication, or TLS. The camera page's ROCKET box is a browser contour heuristic, not AI detection.
- Read Safety and check the pin map.
- Keep motor power disconnected and support the rover with all wheels clear.
- Follow the canonical Build & Flash guide to create ignored local Wi-Fi settings, build, upload, and monitor.
- Verify boot STOP, motor polarity, release/page-close/Wi-Fi-loss behavior, OLED, and lighting before any ground test.
Never commit local SSIDs, passwords, API keys, or generated firmware artifacts.
The diagram combines firmware-confirmed GPIO assignments with intended/reported wiring; the 2026-08-19 audit did not inspect the assembled rover wire by wire. Measure the LM2596 at 5.00 V before connecting 5 V accessories, and do not carry motor current through breadboard rails.
| Front three-quarter | Top | Rear three-quarter |
|---|---|---|
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 |
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These are CAD renders, not physical fit evidence.
Caution
V3 uses 195 × 100 mm M3 centers; the historical physical-cover record says approximately 203 × 105 mm. Software checks confirmed V3 dimensions and mesh, not chassis fit. Before printing, print the A4 fit-check sheet at Actual Size, verify its 100 mm line, and compare all four centers on the unpowered rover.
BUILD-CONFIRMED: both firmware projects compiled in the recorded 2026-08-19 environment.- No automated firmware tests exist;
pio testcurrently ends withTestDirNotExistsError. - The audit did not upload firmware or repeat motor, STOP-latency, current, thermal, camera, RF, or CAD-fit tests.
- Both HTTP APIs lack TLS and application authentication; camera
GET /restartis remotely state-changing. - Camera health may become stale after capture failures.
See Current implementation, Known issues, Roadmap, and the release checklist for full evidence and planned work.
firmware/ rover controller and camera node
hardware/bom/ prototype parts and open questions
hardware/wiring/ rover wiring diagram
hardware/cad/top-cover-v3 enclosure source, exports, and fit sheet
docs/ implementation, API, pins, build, and safety
scripts/ repository, link, and CAD checks
Read CONTRIBUTING.md before changing GPIO, power, public routes, radio behavior, or motor-safety semantics. Report security issues through SECURITY.md.
Licensing is path-based: software is Apache-2.0, identified hardware source is CERN-OHL-W-2.0, and documentation/original diagrams are CC-BY-4.0. LICENSES.md defines the exact scope. Tokimi names, logos, and official-product designation remain governed by TRADEMARKS.md.
tokimi.space · ben@tokimi.space