This repository contains the code for an ESP32-based robotic arm system developed for a university group design and integration project focused on automated test-tube handling. The system was designed to pick up and place sealed test tubes between fixed racks using a teach-and-replay workflow, Bluetooth Low Energy (BLE) communication, and safety-aware motion control. The wider project also included a custom 3D-printed gripper, verification through simulation and physical testing, and operation within a 50 cm working envelope.
The software supports teleoperation, waypoint teaching, routine playback, heartbeat-based connection monitoring, servo disarming on communication timeout, and smooth motion control to reduce mechanical stress during operation. It was built as part of a minimum viable laboratory automation prototype intended to demonstrate safe, repeatable, and user-teachable robotic manipulation.
THIS PROJECT IS NOW RETIRED [Final Score: 88%]