logo

Technical Specifications

Complete technical specifications for each robot component used in the Autobot project.

Microcontroller — ESP32

The ESP32 serves as the main control unit for the robot.

SpecificationValue
Supported ModelsESP32 DevKitC, ESP32 NodeMCU
ProcessorDual-core Xtensa LX6, up to 240 MHz
ConnectivityWi-Fi 802.11 b/g/n, Bluetooth 4.2
GPIO PinsUp to 34 programmable GPIOs
CommunicationUART, SPI, I2C, PWM
Operating Voltage3.3V (input 5V via USB or VIN)
Flash Memory4 MB

Motors

The system supports any DC Motor that can be controlled via an H-Bridge driver. While TT Motors are commonly used for beginners, you are not limited to them.

SpecificationValue / Requirement
Supported TypesAny DC Gear Motor, DC Brush Motor (e.g., TT Motor, N20, JGA25)
Operating VoltageMust match your Motor Driver's limit (e.g., 2.5V – 12V for L9110S)
Current DrawMust not exceed your Motor Driver's max current (e.g., < 800mA for L9110S)
Control MethodPWM for speed, digital signal for direction (via H-Bridge input)
Encoder SupportOptional. Supported if your MCU has enough GPIO pins for reading encoder signals

Motor Driver — L9110S

Specification2-Channel4-Channel
TypeDual H-BridgeQuad H-Bridge
Operating Voltage2.5V – 12V2.5V – 12V
Max Current Per Channel800 mA800 mA
Control MethodPWM for speed, digital for directionPWM for speed, digital for direction
Motors Supported2 DC motors4 DC motors
Suitable For2-wheel, 3-wheel robots4-wheel robots

Note: You can use other H-Bridge motor drivers (e.g., L298N, TB6612FNG) as long as you wire them correctly to the ESP32 and adjust your power requirements.

Wheels

You can use any wheel type that fits your chosen motors and robot structure. The configuration code can be adapted to handle different kinematics.

Expected Wheel TypeCommon UsesKey Kinematic Feature
Standard / Rubber (Differential)2W, 4WForward/backward, differential turning
Omni Wheel3WMulti-directional movement
Mecanum Wheel4WOmnidirectional (including sideways)
Caster / Ball WheelSupportFree rotation, balance support for 2-wheel setups

Control Board — Custom PCB

SpecificationValue
Compatible MCUsESP32 DevKitC, ESP32 NodeMCU
Co-Processor SupportRaspberry Pi 5
SectionsPower, Control, Status LEDs
LED Indicators🔴 Power, 🟢 Wi-Fi, 🟡 Running, ⚪ Auxiliary
Motor Driver InputSupports L9110S (2-ch or 4-ch)
MountingCompatible with Raspberry Pi 5 mounting holes

Power Supply

SourceVoltageStep-Down RequiredNotes
18650 Li-Ion3.7V – 4.2V (per cell)✅ YesCompact, rechargeable
AA Batteries1.5V per cell✅ Yes (series)Easy to find
Power Bank5V❌ NoDirect connection
Li-Po Battery3.7V – 7.4V✅ YesHigh current, lightweight

Important: The system requires 5V DC input. Always use a Step-Down converter if your power source exceeds 5V.

Co-Processor — Raspberry Pi 5

SpecificationValue
ProcessorBroadcom BCM2712, Quad-core Cortex-A76 @ 2.4GHz
RAM4GB / 8GB LPDDR4X
ConnectivityWi-Fi 5, Bluetooth 5.0, Gigabit Ethernet
CameraCSI connector / USB camera support
AI CapabilityYOLOv8 object detection, line tracking
CommunicationUART (GPIO 14/15) to ESP32
Power5V / 5A via USB-C

Camera Module

SpecificationValue
Supported TypesUSB Webcam, Raspberry Pi Camera Module
Resolution1080p recommended
InterfaceUSB or CSI
Use CasesHuman tracking, line tracking, object detection
RequiresRaspberry Pi 5

Robot Configurations Summary

ConfigurationWheelsMotorsDriverDrive Type
2-Wheel Rectangular2× Rubber + 1× Caster2× TT MotorL9110S 2-chDifferential
2-Wheel Circular2× Rubber + 1× Caster2× TT MotorL9110S 2-chDifferential
3-Wheel3× Omni3× TT MotorL9110S 4-chOmni
4-Wheel Differential4× Rubber4× TT MotorL9110S 4-chDifferential
4-Wheel Mecanum4× Mecanum4× TT MotorL9110S 4-chMecanum
Double-DeckerSame as baseSame as baseSame as baseSame as base

More Info