Wall Climbing Robot (ESP32)

A Wi-Fi controlled wall-climbing robot built on the ESP32. The robot uses a BLDC motor (driven through an ESC) to power a suction fan for wall adhesion, and two DC motors (driven via an MX1508 driver) for movement. Control is done through a lightweight built-in web interface — no app required.

Features

• 📶 Self-hosted web control panel served directly from the ESP32
• 🌀 BLDC suction fan control with ON/OFF toggle and variable speed slider (0–100%)
• 🕹️ Directional movement control (Forward / Backward / Left / Right / Stop)
• ⚙️ ESC signal generated using the ESP32 ledc PWM peripheral (50 Hz, 16-bit resolution)
• 📱 Responsive UI — usable from a phone or desktop browser

Hardware Requirements

Component	Notes
ESP32 development board	Any variant with ledc PWM support
Brushless (BLDC) motor + ESC	For the suction fan
MX1508 dual H-bridge driver	Drives two DC gear motors for movement
2x DC gear motors	Robot drive wheels/tracks
Suitable power supply/battery	Sized for ESC + motor draw

Pinout

Function	ESP32 Pin
ESC signal	GPIO 4
Left motor IN1	GPIO 16
Left motor IN2	GPIO 17
Right motor IN1	GPIO 18
Right motor IN2	GPIO 19

Adjust pin numbers in the sketch if your wiring differs.

Software Requirements

• Arduino IDE (or PlatformIO)
• ESP32 board package installed in the Arduino IDE
• Built-in libraries only: WiFi.h, WebServer.h

Setup

1. Clone this repository.
2. Open the sketch in the Arduino IDE.
3. Update your Wi-Fi credentials:

   const char* ssid = "your_ssid";
   const char* password = "your-password";

4. Select your ESP32 board and correct COM port.
5. Upload the sketch.
6. Open the Serial Monitor at 115200 baud to view the assigned IP address once connected.

Usage

1. Power on the robot. On boot, the ESC is armed automatically (~5 second delay at minimum throttle — keep the robot clear of obstacles during this step).
2. Connect your phone/laptop to the same Wi-Fi network as the ESP32.
3. Navigate to the IP address printed in the Serial Monitor (e.g. http://192.168.1.42).
4. Use the web UI to:
   • Turn the suction fan ON/OFF
   • Adjust suction speed with the slider
   • Drive the robot using the directional buttons

Safety Notes

• Always arm the ESC with the propeller/fan clear of people and objects.
• Double-check ESC and motor wiring polarity before powering on.
• Use a power supply rated for the combined current draw of the ESC and drive motors.
• This project controls physical hardware — test movement and suction functions independently before combined operation.

Roadmap Ideas

• Add authentication to the web interface
• Add live telemetry (battery voltage, suction current)
• Replace polling slider with WebSocket-based control for lower latency
• Add mobile-friendly joystick control

License

MIT — feel free to use, modify, and share.