This repository contains the firmware for the RuedaTec Smart Wheelchair, developed to improve mobility and accessibility through low-cost, high-impact technology. It was showcased in Invention Convention Americas 2023, earning 2nd place internationally.
After the beginning of 2024 we stopped the development, but we got another improved version locally. However, This version of the code was relatively updated.
The project consists of a Bluetooth-controlled electric wheelchair system, built using two ESP32 microcontrollers, and enhanced with AI-driven statistics for battery health and inclination monitoring.
The system is divided into two ESP32 boards:
- Acts as the remote control.
- Sends commands via Bluetooth to the main wheelchair ESP32.
- Joystick behavior or mobile app input.
- Can optionally receive commands from a custom Android app over Bluetooth.
- Receives commands from ESP32 #1 via Bluetooth.
- Controls the main motors and brakes,.
- Supports forward/reverse motion. Turning is in still in testing.
This modular design improves flexibility: the chair can be controlled either by a physical controller (ESP32 #1) or directly from a smartphone.
- 2 × ESP32 Dev Modules
- 2 × Motors (with H-bridge motor drivers)
- 1/2 x Motor driver (L298N)
- 1/2 x H-bridge
- Power supply for motors and ESP32s (it was a big battery)
- Bluetooth Classic via
BluetoothSeriallibrary. - ESP32 #1 sends single-character commands to ESP32 #2 (e.g.,
'F'for forward,'B'for backward,'0’–'9'for speed levels).
| File | Description |
|---|---|
esp32_controller.ino |
Code for ESP32 #1 (Controller Unit) |
esp32_drive_unit.ino |
Code for ESP32 #2 (Drive Unit) |
| Command | Description | Used By |
|---|---|---|
F |
Move forward | Both |
B |
Move backward | Both |
L |
Turn left | Drive Unit |
R |
Turn right | Drive Unit |
S |
Stop movement | Both |
P |
Pause / brake | Controller |
W/w |
Enable/disable brake | Controller |
X/x |
Engage/disengage extra stop | Controller |
0–9 |
Set speed (0 = stop, 9 = max) | Both |
- Language: C++ (Arduino)
- Frameworks: Arduino Core for ESP32
- Communication: BluetoothSerial
- AI Modules: Battery trend prediction & inclination analysis (Hackathon version)
A companion Android app allows users to control the wheelchair directly via Bluetooth. Control can switch seamlessly between the mobile app and physical controller.
- 🥉 Third Place – State Innovation Competition, Guanajuato, Mexico 🇲🇽
- 🏆 Winner – Hackathon Challenge, where we enhanced the system with AI-powered statistics to analyze:
- Battery performance and degradation
- Inclination data and safety alerts (power change)
- 🥈 Second Place – Invention Convention Americas 2023
- Integration with GPS and obstacle detection.
- OTA firmware updates via Wi-Fi.
- Full mobile app release with customizable controls.
Visit: ruedatec.com
For inquiries, support, or collaboration:
📧 [email protected]