This project is undergoing a huge change and will be updated with new information and code. The project is now being prepared for ScaniaHack 2026 and use the progress we made in 2024 and 2025 as a starting point.
The old branches are still available and can be used for reference but the scaniahack2026 branch will be uppdated and restructured and then merged back to main when the hack is over.
The goal with this repo was to make an 'autonomous' toy-monster-truck, using my own electronic design and software for the control system. To get a head-start I used a cheap radio-controlled toy-truck and replaced the radio-control-pcb with my own designed control-system-pcb.
The 'brain' of the truck is an ESP32-wroom 8MB and the sensors used are ultrasonic distance-sensors and acc/gyro/compass. This design was made to be simple and easy to both understand and replicate. I hope it will be a source of inspiration and give ideas for improvements.
I now have 2 of these trucks and I am planning to use them for ScaniaHack 2026.
This branch (ScaniaHack2026) is 'cleaned-up' and updated with alot of informatiom and will focus on the work at this years ScaniaHack 19th and 20th of March.
We will use the 2 toy-trucks to build a cooperative, learning-based autonomous 'racing' system. The trucks will explore, map, optimize speed, and avoid obstacles on a simple bounded track.
By using the data collected from the trucks, we will implement a learning-based algorithm to optimize the racing strategy. The trucks will communicate with a backend server to share information about the track and their performance. The backend server(s) will also be responsible for storing the data and providing insights into the performance of the trucks.
Link to the complete project description for ScaniaHack 2026: ScaniaHack 2026 project description
Built with 45x70mm wood-planks, the track is a closed loop with angled corners and a clear start/finish line (the narrowest part).
- 2 working toy-trucks with the same hardware setup and with 'ota' capabilities
- Backend servers for data collection, analysis and training of the learning-based algorithm
- A simple track for testing and racing
- Software components for sensors, basic control, data collection, and communication with the backend servers
- A dedicated server showing a dashboard with the telemetry
- An updated control-loop that 'explores' the track
- A backend 'training' that use the telemetry data to figure out the track geometry
- An updated control-loop that uses the information from backend to 'race' the track and improve laptimes
(More details for the git-magic in the wiki)
- Fork this repo from main and do your thing in a feature-branch from this fork on your own github-account
- When done, make a pull-request back to main and describe your changes in the pull-request
- Try to keep one feature or bug-fix per pull-request to make the merging easier
- If you have any questions or need help, just ask me by pm, email, IRL or in the pull-request and I will try to help you out.
Note: when working in vscode with platformio you need to open the EmbeddedSw subfolder from where you have cloned the repo, and then you can work, build and download to esp from there.
How to get started with coding
- Complete Project Description - Comprehensive ScaniaHack 2026 project overview
- Arduino OTA Process Guide - Complete guide for wireless firmware updates
- Kalman Filter Implementation - Sensor fusion and filtering algorithms
- EmbeddedSw Documentation - Main firmware documentation
- Dashboard Setup - Real-time telemetry dashboard
- Remote Control Guide - Manual and AI-based remote control
Current repository structure and components:
Main Documentation (Root Level):
- ESP32_Truck_Hackathon_Project_Description.md - Complete ScaniaHack 2026 project overview
- arduino-ota-process.md - Complete guide for Over-The-Air firmware updates
- kalman_filter.md - Implementation guide for sensor fusion algorithms
Core Directories:
- EmbeddedSw/ - Main ESP32 firmware (PlatformIO project) - open this folder in VS Code to work with the truck control code
- toy-truck/ - Hardware design and mechanical components
- electronics/ - PCB schematics (KiCAD), component lists, and hardware documentation
- Chassi-prep/ - CAD models and 3D printables for truck modifications
- truck_telemetry_dashboard/ - Real-time web dashboard for monitoring truck telemetry data
- remote/ - Manual control scripts and computer vision detection for remote operation
- www/ - Backend web server components
- PHP scripts for data logging and viewing
- Database interaction utilities
Supporting Materials:
- doc/ - Project documentation, system diagrams, and reference images
- Architecture diagrams and project planning materials
- Phase 1 mapping documentation
- Historical work descriptions and conversion notes
- posters/ - Visual presentation materials and setup diagrams for ScaniaHack 2026
It is possible to use my PCB-design for an other type of vehicle or use the schematics and build any other sort of control-board. The ESP32 is a very versatile microcontroller and can be used for many different applications.
Connecting and downloading to the ESP might be a nightmare some times. Usually it goes well but when it starts to bug it can go on forever. However, you are not alone, google will help out when you search for your error message.
Sometimes it works better if you power the pcb from the usb-port using a 3.3V type of FTD like FTDI1232 set to 3.3V. In this case the power from the batteries needs to be off or you might destroy the circuit. Always leave battery-power off when using power from the programming interface.
- Some connections where missing in the first version of the schematics, like the connection between the B+ and the diode in the voltage-regulator. This is now fixed in the schematics and the pcb-layout for version 3.1
- To keep the ESP safe on the io-side I am using rechargable batteries summing up to 3.6 volts which works just fine, but with alkalines you will probably get like 4.6 or 4.7 volts with fresh batteries which might damage the ESP32 io. Don't use those...
- In the schematics I used a 1N4148 diode for reversed polarity protection but this was NOT a good choice. This can be left out completely or replaced by a schottky type of diode with a low voltage-drop.
Unfurthunatly this specific model is not sold anymore at Biltema but there are many other models at Biltema or elsewhere that can be used for this project. The most important thing is that the chassi is big enough to fit the new electronics and that the wheels are big enough to handle the terrain where you want to drive.
You can of course also design a new PCB formfactor from the schematics provided. The KiCAD files in the toy-truck/electronics directory include all the necessary components and connections. Feel free to modify the layout to better fit your specific needs or to improve the design. If you come up with a better design, please share it with the community by making a pull-request.
