This is an autonomous robotic dust sweeper. It's not meant to be state-of-the-art, but a fun way to learn about robotics. Nonetheless, it's not totally useless :)

Building it might not be the easiest thing in the world, especially since I have little time to create proper documentation. If you have some coding skills, though, I bet you'll be fine.

It's built in a modular way, so you can experiment replacing some parts without having to re-print too much stuff.

The code to build the required Raspberry system image is available at https://github.com/wiz78/meta-sweeperbot

The code for the ESP32 firmware can be found at https://github.com/wiz78/sweeperbot-esp32

The attached PDF shows a minimalistic reference of the connections I made: I suggest you double check them with the pin numbers in the code :) Also make sure the motors are spinning the right way, using the web page detailed in the meta-sweeperbot readme.

Required parts:

• 1x ESP32 (I used a 38 pins DevKit C module, eg. https://www.amazon.it/gp/product/B09Z6RLS7R/)
• 1x Raspberry Pi 3 model B
• 1x 16GB (or larger) SD card
• 2x LM393 encoders (https://www.amazon.it/gp/product/B09TJZV4XW/)
• 2x 3mm flanges for the wheels (https://www.amazon.it/gp/product/B0CKR73ZM9/)
• 2x 3mm dowels (https://www.amazon.it/gp/product/B07R71J129/)
• 2x 3x10x4mm ball bearings (https://www.amazon.it/gp/product/B072F6JBT4/)
• 1x GY-521 gyroscope/accelerometer (https://www.amazon.it/gp/product/B07N2ZL34Z/)
• 1x 12v/USB battery pack (https://www.amazon.it/gp/product/B0BRRR3C41/)
• 1x 5.5mm DC connector (https://www.amazon.it/gp/product/B0C6MBYRYG/)
• 2x Roomba tyres (https://www.amazon.it/gp/product/B0CD25PW76/)
• 1x FHL-LD20 LIDAR (https://www.amazon.it/gp/product/B0C624D5PS/). The code I used referenced a LD14P model, so that might be an alternative name for it, or a similar model.
• 1x L298N motor driver (https://www.amazon.it/gp/product/B09TJZ953V/)
• 2x N20 60 RPM motors (https://www.amazon.it/gp/product/B0BS41NQRB/)
• 8x M3 inserts for the bottom part of the front pad
• 2x M2 inserts
• 2x M2 screws to hold the RPi
• several M3 screws of different sizes and bolts
• a 70x50mm breadboard
• 2x 100nF ceramic capacitors
• pin headers
• JST connectors
• wires