An autonomous maze-solving robot built on ESP32, designed to navigate and solve mazes using floodfill algorithms and sensor fusion.

• Maze Navigation: Floodfill algorithm for optimal pathfinding
• Motion Control: PID-based motor control with encoder feedback
• Sensor Suite:
  • IMU (MPU6050) for orientation tracking
  • Time-of-Flight (VL53L0X) for distance sensing
  • IR sensors for wall detection
  • Encoders for odometry
• Power Management: Real-time voltage/current monitoring
• Display: OLED display for status and debugging
• Button Control: Start/stop and mode selection

• Microcontroller: ESP32
• Motors: DC motors with encoders
• Sensors: ToF, IMU, IR, encoders
• Display: SSD1306 OLED
• Power Monitoring: INA3221

src/          - Implementation files
include/      - Header files
platformio.ini - PlatformIO configuration

platformio run -e esp32dev

platformio run -e esp32dev --target upload

Edit include/config.h to adjust:

• Motor control parameters
• Sensor calibration values
• Maze dimensions
• Movement speeds

1. Move robot forward exactly 18 cm using move_forward_cm(18)
2. Record encoder tick count
3. Calculate: TICKS_PER_CM = (left_ticks + right_ticks) / 2.0 / 18.0
4. Update TICKS_PER_CM in config.h