Helpers for the Lord of Robots – LoR Core V3 ESP32 board used in MiniBots. This library packages board-specific pins, status LEDs, watchdog + boot diagnostics, battery monitor, Bluepad32 gamepad pairing/connection logic, and 12-slot servo motor outputs.

• MCU: ESP32 (bluepad32 core)
• Dependencies:
  • Bluepad32
  • [ESP32Servo] v3.0.7 (keep 3.0.7 to avoid timing regressions)
  • [FastLED]

Tested with Board: esp32_bluepad32 / ESP32 Dev Module.

• Pin maps for AUX and IO ports plus internal inputs (buttons, switch, VIN ADC).
• LED states with FastLED (ice blue idle, green OK, red error, rainbow activity, blue/white pair blink, plus boot-cause colors).
• Watchdog (3 s) and boot diagnostics LED display.
• Gamepad manager (Bluepad32): single controller, A+D at boot enters pair mode, virtual device disabled, pairing disabled after successful connect.
• Battery monitor: ADC -> voltage using calibrated slope/offset; low-batt scale output (0/0.25/1.0) with 100 ms cadence.
• 12 motor outputs (1..12) with common RC PWM ranges per motor type.

1. Arduino IDE → File → Preferences → Additional Boards Manager URLs: https://dl.espressif.com/dl/package_esp32_index.json https://raw.githubusercontent.com/ricardoquesada/esp32-arduino-lib-builder/master/bluepad32_files/package_esp32_bluepad32_index.json

2. Boards Manager:

• Install esp32 by Espressif Systems.
• Install esp32_bluepad32 by Ricardo Quesada.

3. Library Manager:

• Install FastLED (latest).
• Install ESP32Servo v3.0.7.

4. Clone/copy this repo to:

• Documents/Arduino/libraries/LoR_v3/

5. Select Board: esp32_bluepad32 → ESP32 Dev Module.

• AUX_PINS (index 1..8): {5, 18, 23, 19, 22, 21, 1, 3}
  (UART/I2C/SPI capable, also usable as GPIO)
• IO_PINS (index 1..12): {32, 25, 26, 27, 14, 12, 13, 15, 2, 4, 22, 21}
• Internal Inputs:
• BTN_A=35, BTN_B=39, BTN_C=38, BTN_D=37, USER_SW=36
• VIN_SENSE=34 (ADC)
• LED data: LED=33, LED_COUNT=4

Two-point calibration from measured data (ADC, Volt) = (775, 6.0 V) and (1720, 12.0 V):

• Slope m = (12 − 6) / (1720 − 775) = 0.006349206
• Offset b = 6 − m × 775 = 1.079365
• Conversion: V = 0.006349206 * adc + 1.079365

Used internally to compute VIN.

• Idle / Disconnected: ice blue
• OK / Ack: green
• Error / Disconnect: red
• Active: rainbow
• Pair Mode: blinks blue ↔ white
• Boot cause: white (WDT), yellow (brownout), green (power-on), blue (software), red (panic), purple (unknown)

• Hold BTN_A + BTN_D, reset.
• Library forgets keys, enables pairing, blinks blue/white until a controller pairs.
• Then pairing is disabled; future boots auto-connect.

Open via File → Examples → LoR_v3 → LoR_Core_V3_KitBot. Minimal skeleton:

#include <LoR_Core_V3.h>
using namespace LoR;

CoreV3 core;

void setup() {
core.begin();

// Configure motors (1..12), keep your preferred mapping
auto& mot = core.motors();
for (int i=1;i<=11;++i) mot.configure(i, MotorType::N20Plus, 90);
mot.configure(12, MotorType::MG90_CR, 90); // example continuous-rotation
}

void loop() {
core.tick(); // feeds WDT, updates LEDs/gamepad/battery

if (core.gamepadConnected()) {
 int sw = digitalRead(PIN_USER_SW);
 // Same mapping as original sketch:
 int left  = (sw == HIGH) ?  core.gamepad().axisRightY() : -core.gamepad().axisRightY();
 int right = (sw == HIGH) ? -core.gamepad().axisLeftY()  :  core.gamepad().axisLeftY();

 if (left  > -50 && left  < 50) left = 0;
 if (right > -50 && right < 50) right = 0;

 int L = constrain(map(left,  -512, 512, 0, 180), 0, 180);
 int R = constrain(map(right, -512, 512, 0, 180), 0, 180);

 auto& mot = core.motors();
 mot.writeDeg(1, L);  mot.writeDeg(2, L);  mot.writeDeg(3, L);
 mot.writeDeg(4, L);  mot.writeDeg(5, L);  mot.writeDeg(6, L);
 mot.writeDeg(7, R);  mot.writeDeg(8, R);  mot.writeDeg(9, R);
 mot.writeDeg(10, R); mot.writeDeg(11, R); mot.writeDeg(12, R);

 delay(50); // ~20 Hz
} else {
 core.motors().stopAll();
}
}

##Troubleshooting

• LoR_Core_V3.h: No such file : Ensure the library is installed at Documents/Arduino/libraries/LoR_v3/ with library.properties and sources under src/. Restart the IDE.

• Board not found / upload fails : Select esp32_bluepad32 / ESP32 Dev Module. Install CH340 driver if required.

• Servos jitter / wrong range : Use ESP32Servo v3.0.7. Verify each output is configured with correct min/max pulse.

• Gamepad won’t pair : Hold A + D and reset to enter pair mode. Ensure Bluepad32 virtual device is disabled and new connections are re-disabled after pairing.

##Folder Structure LoR_v3/ ├─ library.properties ├─ keywords.txt ├─ src/ │ ├─ LoR_Core_V3.h / .cpp │ ├─ LoR_Core_V3_Pins.h │ ├─ LoR_LED.h / .cpp │ ├─ LoR_Battery.h / .cpp │ ├─ LoR_Gamepad.h / .cpp │ └─ LoR_Motors.h / .cpp └─ examples/ └─ LoR_Core_V3_KitBot/LoR_Core_V3_KitBot.ino

##License Apache-2.0