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Real-time Wi-Fi mobile robot

Modular mobile robot with STM32 + ESP32 nodes, FreeRTOS motor control, and a PyQt5 UDP telemetry HMI.

  • STM32
  • C
  • ESP32
  • FreeRTOS
  • PyQt5
  • UDP
Wi-Fi controlled mobile robot prototype

Distributed architecture

Split real-time responsibilities across nodes: STM32 Nucleo-F446RE for motor control and ESP32-S3 as the wireless gateway. The operator UI runs on a PC and exchanges high-rate telemetry over UDP.

Robot electronics and embedded boards
STM32 and ESP32 boards wired for teleoperation.
Robot chassis and mechanical assembly

Firmware and HMI

Implemented preemptive FreeRTOS tasks on the STM32 for motor control loops. Built a custom PyQt5 interface with UDP sockets for low-latency command and feedback during lab tests.

Demonstration

Achieved stable real-time control and a responsive operator interface suitable for iterative firmware development and lab demonstrations.

Teleoperation and motion test on the lab prototype.