Mecanum
Wheel Robot
An omnidirectional robot built from scratch on an ESP32 — ultrasonic obstacle sensing, PID route-following, and full wireless Bluetooth control.
Overview
Mecanum wheels let a robot translate in any direction and rotate in place — but only if all four motors are coordinated precisely. This build is my end-to-end exercise in that coordination: motor drivers, sensor fusion, and a control loop tight enough that the robot can follow a route with no human input.
What I'm building
Real-time obstacle sensing
Ultrasonic detection runs continuously alongside drive control, so the robot reacts to obstacles mid-manoeuvre instead of between moves.
PID route-following
A PID control loop keeps the robot on its planned path autonomously — stable closed-loop navigation that holds course independent of manual input.
Firmware & wireless control
Motor drivers and sensor-fusion routines written in C++ on the ESP32, with a Bluetooth serial command protocol for full remote operation.