ESP32 WiFi Robot Controller

BuildWhat You Will Build

GoalsLearning Objectives

• Wire and test the web control commands before connecting the rest of the circuit.
• Map each signal to a named ESP32 GPIO and keep the code constants readable.
• Control dual motor driver using a clear threshold or command instead of hidden magic numbers.
• Use Serial Monitor as an engineering tool, not only as a success message.
• Identify power, wiring, and timing faults using a repeatable test checklist.

PartsComponents List

• PartESP32 DevKit boardMain controller
• PartWeb Control CommandsPrimary input for the project
• PartDual Motor DriverPhysical output controlled by ESP32
• PartBreadboard and jumper wiresPrototype wiring
• PartUSB data cableProgramming and testing

PartsBill of Materials

🔗Wiring

Wire the web control commands first, verify readings, then connect the dual motor driver.

1. 1

   Unplug USB before placing modules on the breadboard.

2. 2

   Connect the web control commands power pins to the correct 3.3 V or 5 V rail according to its module label.

3. 3

   Connect the web control commands signal line to Wi-Fi.

4. 4

   Connect the dual motor driver control input to GPIO16-GPIO19 and share ground with the ESP32.

5. 5

   Power the ESP32 from USB and test the input reading before enabling the output.

GPIO Mapping

Circuit Explanation

Engineering Explanation

⌨️Code

Copy into Arduino IDE. Install any libraries noted in the component guides first.

#include <WiFi.h>
#include <WebServer.h>

const char* ssid = "ESP32-Robot";
const char* password = "robot1234";
WebServer server(80);

const int L1 = 16, L2 = 17, R1 = 18, R2 = 19;

void drive(bool lf, bool lb, bool rf, bool rb) {
  digitalWrite(L1, lf); digitalWrite(L2, lb);
  digitalWrite(R1, rf); digitalWrite(R2, rb);
}

void setup() {
  Serial.begin(115200);
  pinMode(L1, OUTPUT); pinMode(L2, OUTPUT); pinMode(R1, OUTPUT); pinMode(R2, OUTPUT);
  WiFi.softAP(ssid, password);
  server.on("/", [](){ server.send(200, "text/html", "<a href=/f>Forward</a> <a href=/l>Left</a> <a href=/r>Right</a> <a href=/s>Stop</a>"); });
  server.on("/f", [](){ drive(1,0,1,0); server.send(200, "text/plain", "forward"); });
  server.on("/l", [](){ drive(0,0,1,0); server.send(200, "text/plain", "left"); });
  server.on("/r", [](){ drive(1,0,0,0); server.send(200, "text/plain", "right"); });
  server.on("/s", [](){ drive(0,0,0,0); server.send(200, "text/plain", "stop"); });
  server.begin();
  Serial.println(WiFi.softAPIP());
}

void loop() {
  server.handleClient();
}

Code Explanation

PhotosBuild Photos

• Photo Breadboard overviewShow the ESP32, module placement, and power rails clearly.
• Photo Close-up wiringCapture each GPIO wire so beginners can compare their build.
• Photo Working outputShow the Serial Monitor, display, robot, pump, or lock state after the code runs.