I made a WiFi controlled desktop Roomba

ESP-12 control, 18650 Lipo powered. 3 cliff sensors to stop it driving off the edge of the desk. ​ A bit messy, but it works! 3D Printed "Roomba" shell. It drives quite well under wifi control, I am working on the AI to make it free roam at the moment. I've not quite worked out how to detect bumping into something yet, best idea I have had so far is a rear castor with optical encoder to detect movement so it can see if it's going slower than it should. https://www.youtube.com/watch?v=S_U1jpVdmzY
submitted by /u/Pyrofer [link] [comments]