🐾 worad-esp32-tests

ESP32-S3 hardware test firmware for the WORAD robot dog — ES410 Group 5, University of Warwick (2025/26).

A single PlatformIO project with multiple environments covering CAN bus communication, brushless motor control, and time-of-flight distance sensing. All targeting the Adafruit ESP32-S3 Feather.

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📦 Environments

Environment	Description	Key Hardware
can_test	TWAI CAN bus transmit/receive test	ESP32-S3 TWAI peripheral
motor_test	CubeMars AK45-36 position control over CAN	AK45-36 @ 1Mbps CAN
tof_sensor	VL53L4CX continuous distance measurement	VL53L4CX via STEMMA QT / I2C

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🛠️ Build & Upload

Requires PlatformIO.

# Build a specific environment
pio run -e can_test

# Upload to board
pio run -e motor_test --target upload

# Open serial monitor
pio device monitor -e tof_sensor

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📁 Project Structure

worad-esp32-tests/
├── platformio.ini
└── src/
    ├── can_test/
    │   └── main.cpp
    ├── motor_test/
    │   └── main.cpp
    └── tof_sensor/
        └── main.cpp

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⚙️ Hardware

• Board: Adafruit ESP32-S3 Feather (no PSRAM)
• CAN transceiver: Connected on GPIO 10 (RX) / GPIO 11 (TX)
• ToF sensor: VL53L4CX via STEMMA QT (I2C, I2C power on GPIO 7)
• Motor: CubeMars AK45-36, extended CAN frame, 1Mbps

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🔗 Part of

WORAD ES410 Group 5 — University of Warwick, School of Engineering

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Testing code — not production firmware.