Gesture-Controlled Wi-Fi Robot

Tilt an MPU-6050 to steer a Wi-Fi robot. A TM4C123 reads accelerometer data over I2C, maps tilt to motion commands, and an ESP32 SoftAP robot drives motors through an L298N.

System overview

1. Sense — MPU-6050 Accel X/Y over I2C
2. Decide — TM4C123 thresholds → F/B/L/R/S
3. Bridge / Act — ESP32 SoftAP robot receives TCP commands and drives L298N

Repository layout

controller/main.c   # TM4C123 bare-metal C (I2C + UART AT / command path)
robot/main.cpp      # ESP32 SoftAP TCP motor firmware
docs/               # Architecture + wiring diagrams

Hardware

Component	Role
MPU-6050	6-axis IMU (tilt)
TM4C123 LaunchPad (EK-TM4C123GXL)	Bare-metal controller
ESP32 DevKit	SoftAP robot MCU
L298N	Dual H-bridge
4WD robot chassis + DC motors	Actuation

Tilt → command map

Condition	Command	Motion
Accel X high	F	Forward
Accel X low	B	Backward
Accel Y high	R	Right
Accel Y low	L	Left
Deadband	S	Stop

Controller pins (TM4C123)

Signal	Pin
I2C1 SCL	PA6
I2C1 SDA	PA7 (open-drain)
MPU address	typically 0x68 / 0x69 (AD0)
RGB LEDs	PF1 / PF2 / PF3

Robot pins (ESP32)

GPIO	L298N
32	IN1
33	IN2
25	IN3
26	IN4

Build

Robot (ESP32)

Use Arduino IDE or PlatformIO with robot/main.cpp.

Controller (TM4C123)

Build controller/main.c with Keil / CCS / your TM4C toolchain that provides TM4C123.h.

Before flashing, set SoftAP credentials in both firmwares to matching placeholders:

ConnectToWiFi("YOUR_AP_SSID","YOUR_AP_PASS");

Demo tip

Hold the MPU board, tilt forward/back/left/right, and watch the robot mirror the motion. RGB LEDs on the LaunchPad show the active direction.

License

MIT