Overview
The Body is the physical robot platform powered by ESP32 microcontrollers. It communicates with the mobile app via BLE GATT for low-latency motor control.
Platform
ESP-IDF 5.4+ (C++)
Lines of Code
~900 lines (14 files)
Latency
<50ms
Supported Platforms
ESP32
Cores: 2
BLE: 4.2
Status: ✅ Tested
Cost: $2-3
ESP32-S3
Cores: 2
BLE: 5.0
Status: ✅ Tested
Cost: $3-5
ESP32-C3
Cores: 1
BLE: 5.0
Status: ✅ Ready
Cost: $1-2
ESP32-C6
Cores: 1
BLE: 5.3
Status: ✅ Ready
Cost: $2-3
BLE GATT Service
Service UUID: 6e400001-b5a3-f393-e0a9-e50e24dcca9e
Characteristics:
• Command TX (Write) - Send commands to ESP32
• Telemetry RX (Notify) - Receive sensor data
• Audio TX/RX - Opus audio streaming
• Configuration - Device settings
Development
Build Firmware
cd packages/body ./build-target.sh esp32s3
Flash & Monitor
idf.py -p /dev/ttyUSB0 flash monitor