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MotorBot with Esp32

09-06-2025

🔧 Components Needed:

Component	Quantity
ESP32 Dev Board	1
L298N Motor Driver Module	1
DC Gear Motors (TT or BO motors)	2
3 x Li-ion 18650 Cells (3.7V each)	1 battery pack (11.1V total)
Battery Holder or 3S Battery Pack	1
Breadboard (optional, for testing)	1
Jumper Wires (Male-to-Male/Female)	~15-20
Robot Chassis + Wheels	1 set
Switch (optional, for power control)	1

🔌 Connections:

✅ Power Supply:

Connect battery pack positive to +12V terminal on L298N.
Connect battery pack negative to GND on L298N.
Remove the jumper on L298N between +12V and 5V (important! Use external 5V for ESP32).
Use buck converter (recommended) to step down 11.1V to 5V and power ESP32 through 5V and GND.

✅ L298N to Motors:

Connect:
- Motor A terminals (OUT1 & OUT2) to Left motor.
- Motor B terminals (OUT3 & OUT4) to Right motor.

✅ L298N to ESP32 (Control Pins):

ESP32 GPIO	L298N IN Pin
GPIO 16	IN1
GPIO 17	IN2
GPIO 18	IN3
GPIO 19	IN4

HOW TO OPERATE BOT

#include <BluetoothSerial.h>

#include <L298NX2.h>

#define LED_BUILTIN 2

//-------------L298---------------------------------------------------

// motor 1 settings

#define ENA 4 // this pin must be PWM enabled pin if Arduino board is used

#define IN_1 16 //rx2

#define IN_2 17 //tx2

// motor 2 settings

#define ENB 5 // this pin must be PWM enabled pin if Arduino board is used

#define IN_3 18 //d18

#define IN_4 19 //d19

//L298NX2 mybot(IN_1,IN_2,IN_3,IN_4); //for full speed

L298NX2 mybot(ENA, IN_1, IN_2, ENB, IN_3, IN_4); //for speed

//---------BT--------------------

BluetoothSerial EspBT;

//------Bluetooth RC Controller Define ----

#define back_light 21 //D21

#define front_light 22 //D22

#define horn_Buzz 26 //D26

char bdata; //for bluetooth command store

void setup() {

Serial.begin(9600);

Serial.println(F("init"));

EspBT.begin("BT_MSKCAR2025_01");

//custom pins for light and buzzer

pinMode(LED_BUILTIN, OUTPUT);

pinMode(back_light, OUTPUT);

pinMode(front_light, OUTPUT);

pinMode(horn_Buzz, OUTPUT);

//testing

mybot.setSpeed(100);

mybot.forward();

delay(100);

mybot.stop();

//test done

}

//-----------------------------------------

void loop() {

while (EspBT.available() > 0) {

bdata = EspBT.read();

Serial.println(bdata);

//make condition based on BLE data

switch (bdata) {

case 'F':

Serial.println("Forward");

mybot.forward();

break;

case 'B':

Serial.println("Reverse");

mybot.backward();

break;

case 'L':

Serial.println("Left");

mybot.forwardA();

mybot.backwardB();

break;

case 'R':

Serial.println("Right");

mybot.forwardB();

mybot.backwardA();

break;

case 'S':

Serial.println("Stop");

mybot.stop();

break;

case '0':

Serial.println("Stop");

mybot.stop();

break;

case '3':

Serial.println("LOW speed");

mybot.setSpeed(100);

break;

case '5':

Serial.println("Mid speed");

mybot.setSpeed(150);

break;

case '9':

Serial.println("Mid speed");

mybot.setSpeed(255);

break;

}

}

}

MotorBot with Esp32

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