🧠 PCB - Microcontroller

We use two units of the ESP32-WROOM-32E-N8 module as the main controllers of the robot.
Both microcontrollers are powered directly via USB, connected to the computer. No external voltage regulators are used for them on the PCB.

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🔀 Role of Each ESP32

🅰️ ESP32 #1 – Control Unit

This ESP32 is responsible for sending all the control signals required for the robot’s operation. It communicates with the PC via ROS2 and performs the following tasks:

• Sends PWM signals to motor drivers
• Controls PWM for the LIDAR (optional)
• Controls LED indicators (currently disabled due to time constraints)

🔁 Motor PWM Behavior

The analog PWM signal sent to the motor drivers defines the direction of wheel rotation, following the table below:

Voltage Range	Behavior
0 V to 1.25 V	Wheel rotates backward (reverse)
Exactly 1.25 V	Wheel remains stationary
1.25 V to 3.3 V	Wheel rotates forward

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🅱️ ESP32 #2 – Feedback Unit

This second ESP32 handles all the feedback and sensor readings, and forwards the data to the PC via ROS2.

It is responsible for:

• Reading encoder signals from all wheels
• Receiving battery voltage and current feedback
• Initially, it was planned to receive LIDAR data, but after evaluation, we decided to connect the LIDAR directly to the PC, as it simplified power supply and communication handling

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📌 Summary

Feature	ESP32 #1 (Control)	ESP32 #2 (Feedback)
Powered by USB	✅	✅
ROS2 Communication	✅	✅
PWM to motor drivers	✅	❌
LED control	✅ (disabled)	❌
LIDAR PWM control	✅	❌
Encoder input	❌	✅
Battery feedback (ADC)	❌	✅
LIDAR serial connection	❌ (initially planned)	❌ (moved to PC)

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