1. ros_bridge_esp32

After connecting the robot circuit as shown below (2. ESP32 Robot Car Circuit) and uploading ros_bridge_esp32.zip, the ESP32 robot car can be controlled using serial commands.

Note: For basic stundying, you can see the attached document “week4-5 esp32 robot car.pdf”. in this document, the connection is very simple for student learning. It is different from "ros_bridge_esp32.zip" that is latest version.

1) Motor movement

Serial Monitor Output	Action	Command
	Move Forward	o 255 255
	Turn Left	o -255 255
	Turn Right	o 255 -255
	Move Backward	o -255 -255
	Stop	o 0 0

2) Encoder values

Serial Monitor Output	Action	Command
	Read the two encoder values	e
(No output image)	Reset the two encoder values	r

3) Servo motors

Serial Monitor Output	Action
	Servo 0 rotate 45 degrees
	Servo 1 rotate 125 degrees

4) Digital Pinout High/Low

Serial Monitor Output	Action	Command
	Set Pin 2 HIGH (LED ON)	l 2 1
	Set Pin 2 LOW (LED OFF)	l 2 0

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2. ESP32 robot car circuit

This circuit supports the following connections: (1) two 12 V motor encoders (77 RPM or similar), (2) three SG90 servo motors (adjustable), and (3) a relay switch.