🕹️ Differential Wheeled Robot Control via PS3 Controller

Wireless control of differential wheeled robot using PS3 Bluetooth controller with ESP32

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📌 Project Overview

This project combines:

1. PS3 Bluetooth Control - Wireless communication between PS3 controller and ESP32
2. STM32 Firmware Hack - Modified hoverboard motherboard firmware for custom motor control
3. Safety System - Automatic stop on controller disconnect

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🔧 Firmware Hierarchy

Component	Role	Source
PS3 Controller Layer	Handles Bluetooth communication	PS3-ESP32
STM32 Hack	Motor control logic	Hoverboard-Firmware-Hack

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🚀 Key Features

• Bluetooth Control
  • Latency: <20ms
  • Range: Up to 10m
  • Auto-stop safety: Halts motors on controller disconnect
• STM32 Modifications
  • Custom speed/acceleration profiles
  • Deadband filtering
  • Safety cutoffs
  • Analog stick calibration support

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⚙️ Firmware Setup

1. STM32 Hoverboard Firmware

Source: hoverboard-firmware-hack-FOC
Modified Files:

firmware_mods/
├── main.c               # Motor control logic
├── config.h             # Critical parameters
└── platformio.ini              

Flashing Steps:

1. Connect ST-Link V2 to hoverboard mainboard
2. Use STM32CubeProgrammer:

Full guide: Original Instructions

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🎮 PS3 Controller Setup

Pairing Procedure

1. Upload ESP32 controller code with PS3 MAC address
2. Put PS3 controller in pairing mode (PS button)
3. ESP32 automatically connects when powered
4. Solid LED = Connected, Blinking LED = Searching

Safety Feature: Motors immediately stop if connection drops

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🛠️ Hardware Setup

Component	Quantity	Notes
Hoverboard Motherboard	1	STM32F103 based
ESP32	1	Bluetooth enabled
PS3 Controller	1	DualShock 3 compatible
ST-Link Programmer	1	For STM32 flashing
36V Battery	1	Hoverboard main power

Wiring:

graph LR
  PS3_Controller -->|Bluetooth| ESP32
  ESP32 -->|DAC| STM32
  STM32 -->|PWM| Motor_Driver

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⚠️ Critical Notes

1. Connection Safety:
   • Robot automatically stops if:
     • Controller battery low
     • Bluetooth signal lost
     • Emergency stop button pressed
2. Configuration Parameters:

// esp32_controller.ino
#define acc 50   //acceleration step if you don't need acceleration and dceleration you can make it equal to maxspeed
#define accDelay 250 //acceleration delay
#define maxspeed 100 // max value frome the center (between 0 and 126)
#define deadband 5     // Ignore stick drift

3. Motor Control Logic (STM32):

// main.c modifications
steer *= 0.12;  // PS3 analog stick scaling
speed *= 0.12;  // Adjust for sensitivity

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📜 License & Attribution

• STM32 Firmware: hoverboard-firmware-hack-FOC (GPLv3)

• Modifications: achref-ak

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🔒 Safety Implementation

The ESP32 continuously monitors controller connection status:

Motors remain disabled until controller reconnects