Turtle-Hatchling is an ESP32-based robotics project designed for a robot that collects balls and drops them into a mothership. The robot is controlled wirelessly using a network controller and features motorized wheels for movement, servo-controlled arms for ball collection, and a latch mechanism for releasing balls into the mothership.

• Wireless Control: Uses TurtleReceiver library for network-based control via controller inputs.
• Movement: Differential drive system with two motors controlled by joystick input.
• Ball Collection: Servo-operated arms that can be adjusted to collect balls.
• Latch Mechanism: Servo-controlled latch to open and close for dropping balls into the mothership.
• ESP32 Platform: Built on ESP32 microcontroller with Arduino framework.

• ESP32 development board (upesy_wroom)
• L298N motor driver module
• Two DC motors for wheels
• Four servo motors (two for arms, two for latch)
• TurtleReceiver-compatible controller for wireless input
• Power supply suitable for motors and ESP32

• Servos:
  • Arms: Servo1 (GPIO 18), Servo2 (GPIO 19)
  • Latch: Servo3 (GPIO 22), Servo4 (GPIO 23)
• Motors:
  • Right Motor: IN1 (GPIO 26), IN2 (GPIO 27)
  • Left Motor: IN3 (GPIO 14), IN4 (GPIO 12)
  • Enable: ENB (GPIO 25)

• PlatformIO installed
• ESP32 board support in PlatformIO

1. Clone the repository:

   git clone https://github.com/yashV131/Turtle-Hatchling.git
   cd Turtle-Hatchling/TurtleHatchlingRobotics
   

2. Open the project in PlatformIO:

   platformio init --board upesy_wroom
   

3. Install dependencies:

   platformio lib install
   

4. Build the project:

   platformio run
   

5. Upload to ESP32:

   platformio run --target upload
   

1. Power on the robot and ensure the controller is connected.
2. Use the controller's joystick for movement:
   • Left joystick: Controls robot movement (forward/backward, left/right)
3. Use buttons to control arms and latch:
   • Left/Right buttons: Adjust arm angles for ball collection
   • B button: Open latch to drop balls
   • X button: Close latch

• src/: Source code files
  • main.cpp: Main program loop and setup
  • arms.cpp/h: Arm control with servos
  • wheels.cpp/h: Wheel motor control
  • latch.cpp/h: Latch mechanism control
  • motorutils.cpp/h: Motor utility functions
• lib/TurtleReceiver/: Custom library for network controller
• include/: Header files
• platformio.ini: PlatformIO configuration

• ESP32Servo: Servo control library
• TurtleReceiver: Custom network controller library

Contributions are welcome! Please fork the repository and submit a pull request.