---

NORA: Nomadic Omnidirectional Reactive Automaton

Related Projects

• KIDA-Robot-v01
• KIDA-Robot-v00
• WHIP-Robot-v00
• DREAM
• RIFT

---

---

📖 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

• Omnidirectional Movement: Move in any direction without turning.
• Self-Hosted AP: No router required for field operation.
• Reactive Safety: 360° sensor coverage for auto-braking.
• Internal UV: Specialized UV light disinfection capabilities.

---

Prerequisites

Prerequisites

Software

• Arduino IDE

Hardware

Microcontrollers

Component	Details
Microcontroller 0	ESP32 (ACEBOTT QA007 Max Controller Board)
Microcontroller 1	Arduino UNO

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, 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
• CH340 Driver Download

---

© Cursed Entertainment 2026