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 # Lidar-controlled-autonomous-vehicle
 2D-Lidar-controlled autonomous vehicle with ESP32 and Bluetooth
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+Arduino ESP32 sketch for an autonomous vehicle that finds it way around a room without bumping into objects.
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+The lidar is the X4 from Ydlidar.
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+Uses the [Dabble](https://github.com/STEMpedia/Dabble) Bluetooth library for Bluetooth (duh).
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+Also uses the very nice ESP32 motor driver library [ESP32MotorControl](https://github.com/JoaoLopesF/ESP32MotorControl) that does not use ledc like everybody else but instead uses the real motor driver peripheral built into the ESP32.
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+The vehicle is a simple design with two motorized wheels in the center and two stand-offs on either end for remaining balanced. This arrangement makes the vehicle very agile.
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+The motors are controlled by an ESP32 Pico Kit, which in turn is controlled over Bluetooth by a smartphone. The lidar data is processed by the ESP32 and used to steer the vehicle in the direction of the greatest distance, i.e. the object that is furthest away.
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+Video: https://youtu.be/BmNelv_gR9Q