Bluetooth Robot Car Controller using ESP32

Rajkumar Sharma
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medium
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SKU: EL144152
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This wireless robot car controller board is built using an ESP32 BT/Wi-Fi module, 2 x H-Bridges, 3.3V regulator. It also includes an ESP32 programming connector, power LED, screw terminal connector for the power supply, header connector for motors, and high-value capacitors on the DC supply for smooth motor operations. The operating power supply is 8V to 24V DC. The project has two H-brides and each can drive 2.5A continues. The board is suitable for small and medium-sized robot cars. It is an open-source hardware project that can be programmed as per requirement. ESP32 I/O details are available in descriptions. ESP32 supports Bluetooth connectivity and the robot car can be controlled using a small phone, Laptop, or Tablet. The project was built using an ESP32-Wroom processor and this chip supports Bluetooth and Wi-Fi connectivity.

The project can be tested with example Arduino code which is provided below. The user will be able to drive a robot car with a PS3 Bluetooth remote. Refer to the link below to learn more about PS3 and ESP32 pairing, and ESP32 programming under Arduino IDE.

https://dronebotworkshop.com/ps3-esp32/

Features

Power Supply 8V to 24V DC
Motor Load d up to 2.5A, Peak 6Amps Each Motor
Over Current Shutdown Threshold 8Amps
No Heatsink for H-Bridge
PWM Frequency Up to 20Khz (Tested), ESP32 Default Output 500Hz
Board Power LED
Overtemperature Shut down with Latch Behaviour, H-Bridge
Short Circuit Shut Down with Latch Behaviour, H-Bridge
Chopper Current Limitation, H-Bridge
VDD Undervoltage Shutdown
4 x 3 mm Mounting Holes
PCB Dimensions 48.90 x 41.28 mm

Connections

CN1: Pin 1 VDD 8V to 24V, Pin 2 = GND
CN2: Pin 1 & 2 = Motor 1, Pin 3 & 4 = Motor 1
CN3: Pin 1 = 3.3V, Pin 2 = GND, Pin 3 = TX, Pin 4 = RX, Pin 5 = GPIO0, Pin 6 = Enable (Programming Connector)
CN4: Pin 1 & 2 = Motor 2, Pin 3 & 4 = Motor 2
J1: Jumper Closed (Pull Low) = Enable, can be controlled using ESP32 Pin GPIO16 Pin High = Disables Motor 1
J1: Jumper Closed (Pull Low) = Enable, can be controlled using ESP32 Pin GPIO18 Pin High = Disables Motor 2
D1: Power LED
U4: 3.3V Regulator, Provides 3.3V to ESP32 processor input from Motor Supply 8V to 24V
U2: H-Bridge Motor Driver, Motor 1
U3: H-Bridge Motor Driver, Motor 2

ESP32 Pins Vs H-Bridge U2 and U3 Pins

GPIO23/D23-PWM = U2 PWM, Motor 1
GPIO22/D22-PWM = U3 PWM, Motor 2
GPIO19/D19-DR = U2 Direction Control High or Low, Motor 1
GPIO17/D17-DR = U3 Direction Control High or Low, Motor 2
GPIO16/D16 = Motor2 Enable/Disable (Solder Jumper J1 = Enable), DE-solder Jumper J1 for ESP32 Enable/Disable Control
GPIO18/D18 = Motor1 Enable/Disable (Solder Jumper J2 = Enable), DE-solder Jumper J1 for ESP32 Enable/Disable Control

Schematic

Parts List

NO.	QNTY.	REF.	DESC.	MANUFACTURER	SUPPLIER	SUPPLIER PART NO
1	1	CN1	2 PIN SCREW TERMINAL PITCH 5.08MM	PHOENIX	DIGIKEY	277-1247-ND
2	2	CN2,CN4	4 PIN MALE HEADER PITCH 2,54MM	WURTH	DIGIKEY	732-5317-ND
3	1	CN3	6 PIN MALE HEADER PITCH 2.65MM	WURTH	DIGIKEY	732-5319-ND
4	2	C1,C9	10uF/10V CERAMIC SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
5	4	C2,C4,C7,C8	100nF/50V CERAMIC SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
6	1	C3	220uF/50V ELECTROLYTIC	NICHICON	DIGIKEY	493-2228-1-ND
7	4	C5,C6,C10,C11	10nF/50V CERAMIC SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
8	1	D1	LED RED SMD SIZE 0805	OSRAM	DIGIKEY	475-1278-1-ND
9	2	J1,J2	JUMPER- PCB SOLDER
10	2	R1,R4	4.7K 5% SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
11	1	R2	1K 5% SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
12	1	R3	10K 5% SMD SIZE 0805	YAGEO/MURATA	DIGIKEY
13	1	U1	ESP32-WROOM	ESP	DIGIKEY	1965-ESP32-WROOM-32E-N4TR-ND
14	2	U2,U3	IFX9201	INFINEON	DIGIKEY	IFX9201SGAUMA1CT-ND
15	1	U4	MP-K78L03-500R3	MORNSUM	DIGIKEY	2725-K78L03-500R3-ND