ESP32_Receiver-Direct-v2.0

Receiver with direct differential motor control mapping and reply telemetry packets.

Control pipeline

Incoming joystick commands are transformed into left/right differential drive speed values and sent to H-bridge PWM rails.

PWM and motor channels

ESP32 hardware PWM channels run dual forward/reverse lines for each motor channel.

LEFT: RPWM=18 LPWM=19 LEN=21 REN=22
RIGHT: RPWM=25 LPWM=26 LEN=27 REN=14

Reply behavior

Receiver adds sender dynamically and transmits struct_reply to support basic telemetry acknowledgement on each session.

Build / Flash

cd firmware/receiver/direct-bts/v2.0
pio run
pio run --target upload