I have robot. The brain is an arduino mega with this shield.
Pictures are below.
Right now I am at the pont where I want to replace the arduino with an esp32. Which esp32 board do you recommend?
drive 4 dc motor independetly
drive one servo motor
accept signal from 5 (7 in the future) tcrt5000 ir sensor
accept signal from 4 optogate (for the encoders)
accept signal from the ultrasonic sensor
driven by and capabel of charging 2 or 4 lion battery 18650
and also the smartness of the esp32 wifi bt touch sensor etc...