Low-latency BLE control driver for ESP32, compatible with the V7RC App (V7RCDOM V2.0). It maps incoming control channels to servos, DC motors, and common robot kinematics such as Differential Drive and Mecanum Drive.

• English (this file)
• 繁體中文：README.zh-TW.md
• 日本語：README.ja.md
• ภาษาไทย：README.th.md

See: QUICK_START_EDU.md

• Mecanum (ESP32-C3): examples/ESP32_C3_Mini_Mecanum_V3/ESP32_C3_Mini_Mecanum_V3.ino
• Differential Drive (ESP32-C3): examples/ESP32_C3_Differential_Drive/ESP32_C3_Differential_Drive.ino

LED behaviour When WS2812 is enabled the strip starts red and blinks once per second while not connected. After a BLE connection is established the LEDs switch to steady green. LED support must still be enabled via ws2812Enable in V7RC_DriverConfig.

LED protocol

A custom V7RC protocol allows the app to set individual LEDs. It looks like: LE?yyyyyyyyyyyyyyyy# where ? can be D or a digit (1–9). D and 1 both refer to the first four LEDs; 2 means LEDs 5‑8, 3 means 9‑12, etc. (using a digit n selects group n‑1 of four LEDs). You can extend further by interpreting higher digits simply as additional groups. Each LED consumes 4 characters (R,G,B,blink). R/G/B are hex digits 0–F (0..15) scaled to 0..255 (*17). blink is 0–A (0..10) representing 0–1000 ms of on-time per second (value*100). Example: LEDF00A0F0A00FAFFF5# sets the first four LEDs, The first one is RED color, the second one is GREEN color, the third one is BLUE color, the 4th one is white with blink(500ms off and 500ms on).

Received commands are parsed by the library and applied immediately; custom settings override the default connection animation until cleared (no clear command currently).

• BLE (NUS) low-latency control via NimBLE-Arduino
• Supported protocols: HEX, DEG, SRV / SRT, SS8, LED (text LED control)
• Channel mapping to:
  • Servo (PWM or angle control)
  • DC Motor (DIR + PWM)
  • Differential drive (Throttle / Steer)
  • Mecanum drive (Vx / Vy / Omega)
• Built-in WS2812 RGB LED strip support (up to 8 LEDs by default; must enable via config)
• Servo smoothing and deadband
• Failsafe timeout (auto stop on signal loss)

• ESP32 Arduino Core
• ESP32Servo
• NimBLE-Arduino (by h2zero)
• Adafruit_NeoPixel (for WS2812 LEDs)

Install dependencies via: Arduino IDE → Tools → Manage Libraries

Install NimBLE-Arduino and include:

#include <NimBLEDevice.h>

Avoid legacy headers such as NimBLE2902.h.

MIT License. See LICENSE.

V7RC / V7 Idea Technology Ltd.
Maintainer: Louis Chuang louis@v7idea.com.tw