Project Hub /Robotics & Autonomous Systems/RF / Wireless Controlled Robot/CHEESECAKE

Intermediate

ESP32

Project Specific

6 – 12 Hours

Partial Kit

CHEESECAKE

Cheesecake is a dual-MCU robotic project featuring leg-to-wheel transform capabilities, animated OLED eyes, and a full web interface dashboard.

Originally published on CircuitDigest

View original tutorial

Parts You'll Need

This project is sourced from another site, not written by us — this list is our best match of their components against what we stock, not a verified bill of materials. Always check the original blog (linked above) for the actual parts list before buying.

ESP32 WiFi+Bluetooth CP2102 Development Board Rs. 520.00
TowerPro SG90 Mini Servo – 180 degree Rotation – Standard Quality Rs. 179.00
0.96 Inch I2C/IIC 4pin OLED Display Module White Rs. 349.00
400 Points Mini Solderless Prototype PCB Breadboard High Quality Rs. 89.00
MB102 Adjustable Breadboard Power Supply Module (3.3V & 5V) for Arduino & Raspberry Pi Rs. 139.00
Jumper Wire 10 Pin Male To Male 20cm Rs. 45.00
Jumper Wire 10 Pin Male To Female 20cm Rs. 45.00

Selected: Rs. 0.00

We don't carry yet: Other Dev Board (Indusboard / Maixduino / misc)
LED Strip / NeoPixel / WS2812

Browse all components

How It Works

The CHEESECAKE robotic system operates through a distributed processing network centered around dual ESP32 Dev Modules. These microcontrollers communicate wirelessly and manage the primary control loops, processing telemetry and coordinating the robot's overall behavior. For mobility, the system relies on four Waveshare SCS Serial Servos, which receive precise positioning commands to execute complex maneuvers, including a unique leg-to-wheel transformation capability. Visual feedback and user interfacing are handled by a 128x64 SPI OLED display utilizing the SSD1306 driver, which renders expressive animated eyes to give the robot personality. Additionally, status and state indicators are driven by a strip of four WS2812B NeoPixel LEDs, providing vibrant lighting effects managed via data signals from the ESP32. An integrated Adafruit Memento camera module further expands the system's capabilities, allowing for visual capture or monitoring tasks. Software-wise, the firmware is developed using either the Arduino IDE or ESP-IDF, orchestrating the dual-MCU coordination, serial bus communication with the servos, SPI display refreshing, and pixel data updates over a unified control framework.

Why Build This

Gain hands-on experience designing and programming multi-microcontroller distributed robotic systems for advanced kinematics.

Implement real-time wireless dashboards and custom web interfaces to control complex electromechanical transform mechanisms.

Explore computer vision integration and sensor data handling using specialized camera modules alongside embedded display peripherals.

Real-World Application

Educational robotics, interactive entertainment, autonomous navigation research, and assistive wellness tracking.

Skills You'll Learn

Dual-MCU wireless synchronization

serial bus communication protocols

SPI display interfacing

addressable LED data management

robotic kinematic transformations

web dashboard development

firmware deployment via Arduino IDE and ESP-IDF

Safety Precautions

Autonomous movement modes are disabled when the robot is in Wheel Mode for safety.

Technology Tags

ESP32

DUAL-MCU

ROBOTICS

SERVO MOTOR

OLED

NEOPIXEL

WIFI

WEB INTERFACE

3D TRANSFORM

Frequently Asked Questions

Why does the project use two ESP32 modules instead of just one?

Using dual ESP32 Dev Modules allows the system to divide labor efficiently, handling high-overhead tasks like web interface hosting and camera processing separately from real-time servo motor control.

How do the SCS Serial Servos enable a leg-to-wheel transform?

The Waveshare SCS Serial Servos provide precise angular positioning and feedback, allowing the robot to dynamically reconfigure its physical limb geometry between walking and rolling configurations.

Can I program the ESP32 modules using the standard Arduino IDE?

Yes, the project supports both the Arduino IDE and ESP-IDF, letting you choose your preferred development environment to write and upload the firmware.

Gallery

This page is part of Kitkraft's Project Hub — a curated collection of electronics & robotics projects gathered from the maker community to help students and hobbyists discover and learn to build. Kitkraft does not claim authorship of the original project, and makes no representation as to the accuracy, completeness or safety of third-party source material. The summary and "How It Works" explanation above are AI-generated, rewritten with reference to the original tutorial — not a reproduction of it. Full credit and a direct link to the original source are provided above. If you're the original creator and have a concern about how your work is represented here, please contact us and we'll address it promptly.

Kitkraft Project Hub — curated from the maker community, credited at the source.

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