Omnidirectional RC robot

Radio-controlled robot with four omnidirectional wheels.

Architecture planned in the firmware specification:

• Freenove ESP32-S3 WROOM board;
• radio receiver over SBUS;
• 4 DC motors, each driven by a BTS7960 (IBT-2) driver;
• 4 omnidirectional wheels, in a roughly 60° layout that stays configurable in software;
• web interface hosted on the ESP32-S3.

Target moves: translation in any direction, rotation in place, and translation combined with rotation.

The repository holds the FreeCAD mechanics (omni wheel, motor hub, drive arm, BTS7960 mount, battery, emergency stop), the omni-board KiCad board and the firmware.