About the mini-project

This is a simple-clean-modular Arduino program for a differential drive bot mounted with a robotic arm having 3 Degrees-of-Freedom, controlled wirelessly via Dabble App. This program was developed for Aaroh - the staircase climbing bot of DRC-SPIT's team Astra, who competed in Techniche 14.O, hosted at IIT Guwhati.

Motor Driver LN298N interfacing:

IN1 - GPIO18
IN2 - GPIO19
IN3 - GPIO21
IN4 - GPIO22
$EN_A$ - GPIO23
$EN_B$ - GPIO25
OUT1, OUT2 - 1st Motor's Terminals
OUT3, OUT4 - 2nd Motor's Terminals
Vcc - 5V
Vss - 12V [LiPo battery]
GND - Common Ground Terminal

Servo Interfacing:

Claw - GPIO 14
Elbow - GPIO26
Shoulder - GPIO27

Dabble App - GamePad mode

Note : The ledc-functions compiles only on ESP32's v2.0.17 Arduino Library. Any further versions don't work.