Copyright belongs to @zxp1107
Link: https://oshwhub.com/zxp1107/simplefoc0414_copy_copy_copy_copy

Hardware: ESP32 main control, L6234 driver chip, MPU6050, AS5600 encoder, 2804 gimbal motor, 18650 battery*2

Software: motor driver based on simplefoc (verified), Bluetooth remote control based on Blinker (verified), mpu6050 standing balance function (not verified), SBUS protocol remote control (not verified)
Mechanical part: main body 3D printing, track TPE material 3D printing, rear wheel direct drive, front wheel with bearing
Production process: 1.PCB board
2. Purchase the original on the PC
3. Shell track printing
4. Purchase of motor bearings, etc.
5. Circuit board welding, overall assembly
6. Arduino installation, simplefoc library installation, blinker library installation, esp32 support installation, open the code and compile and download
7. Download blinker on the mobile phone to create a new device and import the blinker code
8. Power on and connect to Bluetooth (End)

It can be played now, and the power and speed are quite good, but Blinker itself does not feel very good as an IoT remote control, and I have limited ability and have not connected to other remote control software. When the Bluetooth remote control is easy to break the link, you can consider connecting an external antenna. The D5 gets very hot when charging, so it can be replaced or not. The power supply ground wire of the motor may be too thin, you can consider re-wiring, or not. The voltage detection program is not written to prevent over-discharge.

A steering gear interface, an IIC oled interface, and an SBUS receiver interface are reserved.

Expect someone to come up with more funny way