NORA-Robot-v00
NORA: Nomadic Omnidirectional Reactive Automaton
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📖 Overview
Overview
NORA is built on the **ESP32**, utilizing its dual-core processing to handle a custom WiFi Access Point for remote operation while simultaneously managing reactive obstacle avoidance via a 4-sensor ultrasonic array. ### Core Features - [x] **Omnidirectional Movement:** Move in any direction without turning. - [x] **Self-Hosted AP:** No router required for field operation. - [x] **Reactive Safety:** 360° sensor coverage for auto-braking. - [x] **Internal UV:** Specialized UV light disinfection capabilities.Prerequisites
Prerequisites
### Software - [Arduino IDE](https://docs.arduino.cc/software/ide/) ### Hardware ### Microcontrollers | **Component** | **Details** | |-----------|---------| | Microcontroller 0 | ESP32 (ACEBOTT QA007 Max Controller Board) | Dev0 | | Microcontroller 1 | Arduino UNO | Dev1 | ### Chassis & Motion | **Component** | **Details** | |-----------|---------| | Chassis | Omnidirectional Robot Chassis | | Motor Driver | 2x L298N | | Motors | 4x 5V DC Motors | ### User Controllers | **Component** | **Details** | |-----------|---------| | Interface | PC, Android, iPhone | ### Power System | **Component** | **Details** | |-----------|---------| | Battery | 2s 18650| ### Sensors | **Component** | **Details** | |-----------|---------| | Ultrasonic Sensors | 4x HC-SR04 (Front, Back, Left, Right)| | Line Follower | 3-Channel Line Tracking Sensor |Libraries:
- SoftwareSerial.h
- WiFi.h
- WebServer.h
- Preferences.h
Schematics
⚡ Technical Pinouts
[!CAUTION] Ground Loop Warning: All modules must share a common GND. Failure to bridge grounds will cause erratic motor behavior and sensor noise.
ESP32 Motor Controller Configuration
#### L298N-0 (Front Drive) | Motor | PWM Pin | Dir 1 | Dir 2 | | :--- | :--- | :--- | :--- | | **M0** | `GPIO 5` | `GPIO 16` | `GPIO 17` | | **M1** | `GPIO 23`| `GPIO 18` | `GPIO 19` | #### L298N-1 (Rear Drive) | Motor | PWM Pin | Dir 1 | Dir 2 | | :--- | :--- | :--- | :--- | | **M2** | `GPIO 12` | `GPIO 13` | `GPIO 14` | | **M3** | `GPIO 27` | `GPIO 26` | `GPIO 25` |UNO Sensor Array Wiring
#### Ultrasonic Sensors | Direction | Trigger Pin | Echo Pin | | :--- | :--- | :--- | | **FRONT** | `A0` | `A1` | | **LEFT** | `D6` | `D7` | | **BACK** | `A4` | `A5` | | **RIGHT** | `A2` | `A3` | #### Line Follower (left → right) | Sensor | Pin | | :--- | :--- | | **Left** | `D3` | | **Middle** | `D4` | | **Right** | `D5` | #### UV Light | Component | Pin | | :--- | :--- | | **UV Light** | `D10` |ESP32 ↔ Arduino Serial Link
Bidirectional UART at 9600 baud. Both devices must share a common GND. | Signal | From | To | | :--- | :--- | :--- | | Sensor data (TX) | Arduino `D9` (SoftwareSerial TX) | ESP32 `RX` | | UV commands (TX) | ESP32 `TX` | Arduino `D8` (SoftwareSerial RX) | **Data format (Arduino → ESP32):** ``` F:23.4,L:10.1,B:45.0,R:8.3,LF:010 ``` `LF:` is a 3-digit string — left/mid/right sensor states (0 or 1). **Command format (ESP32 → Arduino):** ``` UV:1 (UV light on) UV:0 (UV light off) ```[!TIP] Pro-Tip: Common GND is non-negotiable. If the motors behave erratically or the sensors give “0” readings, check your ground bridge first!
🌐 Connectivity & Controls
Connectivity & Controls
### Network Configuration | Parameter | Value | | :--- | :--- | | **SSID** | `NORA` | | **Password** | `12345678` | ### RIFT Integration To connect via [RIFT](https://github.com/CursedPrograms/RIFT), connect to the `NORA` WiFi network then reach NORA at: * `http://192.168.4.1:5002` ### Drive Modes | Mode | Description | | :--- | :--- | | **Manual** | D-pad remote control via web UI | | **Auto** | Omnidirectional obstacle avoidance using ultrasonic sensors | | **Line** | Line following using the 3-channel IR sensor |
📂 Documentation & Assets
* [ACEBOTT ESP32 Max V1.0 Docs](https://acebottteam.github.io/acebott-docs-master/board/ESP32/QA007%20ESP32%20Max%20V1.0%20Controller%20Board.html) * [CH340 Driver Download](https://acebottteam.github.io/acebott-docs-master/getting%20started/Arduino/Download%20CH340%20Driver%20on%20Windows%20System.html)
© Cursed Entertainment 2026
