MKCOZMO-CONTROLLER

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MKCOZMO-CONTROLLER

(★ 11)

A Cozmo-inspired mini robot built on ESP32 with continuous-rotation servos, Bluetooth Xbox controller support via Bluepad32, and animated OLED eyes. As seen on hack_updt TikTok.

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// repository documentation

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# MKCozmo — Xbox Controller ESP32 Robot

![ESP32-S3](https://img.shields.io/badge/ESP32--S3-Bluepad32-blue)
![Controller](https://img.shields.io/badge/Xbox-Controller-brightgreen)
![OLED](https://img.shields.io/badge/SSD1306-Animated%20Eyes-purple)

![IMG_0174](https://github.com/user-attachments/assets/e5769c56-7900-4a6f-bb57-709303397f2b)

A Cozmo-inspired mini robot built on ESP32 with continuous-rotation servos, Bluetooth Xbox controller support via Bluepad32, and animated OLED eyes. As seen on **hack_updt** TikTok.

> ⚡ Xbox Series X/S controller or any Bluepad32-compatible gamepad. Put the controller in pairing mode before powering the robot.

---

## Table of contents

- [Hardware](#hardware)
- [Wiring](#wiring)
- [Dependencies](#dependencies)
- [Files](#files)
- [Controls](#controls)
- [Configuration](#configuration)
- [Building & uploading](#building--uploading)
- [Full source](#full-source)

---

## Hardware

| Part | Notes |
|------|-------|
| ESP32-S3 dev board | Any variant with enough GPIO. Tested on Seeed XIAO ESP32-S3 |
| 2× continuous-rotation servo | Standard 50 Hz PWM, 500–2400 µs range |
| SSD1306 128×64 OLED | I²C, address `0x3C` |
| Xbox Series controller | Or any Bluepad32-compatible gamepad |
| LiPo / USB power | 5 V for servos, 3.3 V logic from ESP32 |

---

## Wiring

| Signal | ESP32-S3 GPIO |
|--------|---------------|
| Left servo PWM | `D6` |
| Right servo PWM | `D7` |
| OLED SDA | `D8` |
| OLED SCL | `D9` |

Servo power (red) → 5 V rail. Servo ground → GND. OLED VCC → 3.3 V. All grounds common.

---

## Dependencies

Install via Arduino Library Manager or PlatformIO:

| Library | Version tested |
|---------|---------------|
| Bluepad32 | 4.x |
| ESP32Servo | 0.13+ |
| Adafruit SSD1306 | 2.5+ |
| Adafruit GFX | 1.11+ |

> **Board:** ESP32-S3 (Arduino-ESP32 core 3.x). Set Partition Scheme to **Huge APP** — Bluetooth needs the space.

---

## Files

| File | Purpose |
|------|---------|
| `main.ino` | Main sketch — motor control, Bluepad32 callbacks, OLED animation loop |
| `eyes.h` | Bitmap animation frames as `epd_bitmap_allArray[]`. Generate with LCD Image Converter. |

---

## Controls

| Input | Action |
|-------|--------|
| Left stick Y | Drive forward / reverse |
| Left stick X | Steer left / right |
| A button | Emergency stop |

Dead zone: ±20 counts on both axes. Adjust the `abs(y) < 20` threshold in `updateMotors()` for your controller's drift.

---

## Configuration

```cpp
const int LEFT_PIN       = 6;     // Left servo GPIO
const int RIGHT_PIN      = 7;     // Right servo GPIO
const int SDA_PIN        = 8;     // OLED SDA
const int SCL_PIN        = 9;     // OLED SCL
const int STOP_US        = 1500;  // Neutral pulse (µs)
const int MAX_OFFSET     = 900;   // Max speed offset from neutral
const unsigned long FRAME_INTERVAL_MS = 33;  // ~30 fps eye animation
```

If one servo drives backwards, swap the `STOP_US + left` / `STOP_US - right` signs in `setMotors()`, or physically flip the servo mount.

---

## Building & uploading

```
1. Clone repo and open main sketch in Arduino IDE 2.x
2. Install all dependencies (Library Manager)
3. Select board: "Seeed XIAO ESP32-S3" (or your ESP32-S3 variant)
4. Set Partition Scheme: "Huge APP"
5. Upload
6. Open Serial Monitor at 115200 baud
7. Put Xbox controller into pairing mode (hold Xbox + Share buttons)
8. Controller connects automatically — drive!
```
---
![IMG_0183](https://github.com/user-attachments/assets/e89c6574-15b0-4053-a2c9-3b255a84379a)
## License

MIT — hack_updt · ESP32-S3 + Bluepad32 + SSD1306

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