Papaya Pathfinder - ESP32 Rocker-Bogie Mars Rover
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Description
Papaya Pathfinder is an open-source family of small remote-controlled rovers based on the ESP32.
Parts
- Controller: ESP32
- Radio: ELRS receiver (required only when running firmware-elrs)
- Motor Drivers: 2× BTS7960 43A (or similar high-current driver)
- Motors: 6× GA25 DC gear motors
- Steering: 4× MS24 servos
- Power: LiPo 3S Battery
- Voltage Regulation:
- 1× UBEC 5V/3A (for ESP32)
- 1× UBEC 6V/8A (High current supply for Servos)
Firmware
The rover supports multiple firmware configurations, each enabling a different communication method.
https://github.com/tronxi/papaya-pathfinder/blob/main/pathfinder/firmware-wifi
https://github.com/tronxi/papaya-pathfinder/blob/main/pathfinder/firmware-elrs
- firmware-wifi
- WiFi-based control
- HTTP API for movement commands
- Compatible controllers:
- Python desktop controller — sends gamepad-based control commands to the rover via HTTP.
- Android mobile app — enables rover control using a gamepad, providing the same driving experience available on the desktop controller.
- firmware-elrs
- Control via ExpressLRS (ELRS)
3D-Printed Parts
Use PETG or PLA for the structural parts, and TPU for the tires. All parts are designed to be assembled using M3 screws and nuts. All parts in the right quantity are in the .mf3 print profile.
| File | Qty | Material | Notes |
|---|---|---|---|
| body.stl | 1 | PETG / PLA | Main chassis |
| arm_left.stl | 1 | PETG / PLA | Left suspension arm |
| arm_right.stl | 1 | PETG / PLA | Right suspension arm |
| pivot_left.stl | 1 | PETG / PLA | Left pivot mount |
| pivot_right.stl | 1 | PETG / PLA | Right pivot mount |
| differential_bar.stl | 1 | PETG / PLA | Central rocker-bogie differential bar |
| differential_link_left.stl | 1 | PETG / PLA | Left link between differential bar and suspension arm |
| differential_link_right.stl | 1 | PETG / PLA | Right link between differential bar and suspension arm |
| motor_mount.stl | 4 | PETG / PLA | Motor mounts for GA25 motors used on steering arms |
| horn_adapter.stl | 4 | PETG / PLA | Servo horn adapters for steering servos. Print horizontally for strength. |
| rim.stl | 6 | PETG / PLA | Standard option. Connects directly to the motor shaft (D-shape). Simple, but can strip over time under high torque. |
| rim_hexagonal.stl | 6 | PETG / PLA | Pro option (Recommended). Requires 12mm brass hex adapters. Much stronger connection, prevents the motor shaft from stripping the plastic. |
| tire.stl | 6 | TPU | Tires |
Wiring Diagram
- Power Distribution: Shows the rover power distribution, including the LiPo 3S battery, separate UBECs for logic (5V) and servos (6V), and the motor power rails.
Motors: Motor wiring using two BTS7960 drivers, each controlling one side of the rover. The ESP32 provides PWM control signals to each driver.
Servos: Servo wiring powered by a dedicated 6V UBEC. PWM control signals are provided by the ESP32.
System Overview: High-level overview of the complete rover wiring, combining power, motor drivers, servos and control logic.
License
This project is licensed under the Apache License 2.0.
For details see the licence.txt attached!
Source
https://github.com/tronxi/papaya-pathfinder
credits too: https://github.com/tronxi/
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