The robot behind the field notes
ESP32-P4 robot
A small mecanum-wheel robot with a camera, two-way audio, voice assistant and infrared control. This is the home for its controller, Android release and engineering progress.
ESP32-P4 robot · November 5, 2026
Drive the robot. Get the app.
Web controller
Sign in with your robot account for video, dual-stick control, intercom and infrared remotes.
Open web controller ↗https://robot.daojianmeng.top:8444/
Android app
Speak to Xiaozhi through your phone and hear replies on both the phone and robot.
Download Android APK · 20.8 MBThe controller needs IPv6 connectivity and the robot backend to be running. Use the complete https:// address, including :8444. The app download is hosted here and does not require a robot login.
What changed
These features are implemented in the current project. The detailed update separates bench results from checks that still need real-device testing.
Web & iPhone PWA
A browser controller with video, dual joysticks, intercom, infrared remotes and account permissions. iPhone users can add it to the Home Screen.
Accounts & permissions
Account login, vehicle ownership and per-feature permissions. The backend signs expiring control tokens that the robot verifies.
Joystick feel
Slow, medium and fast gears live in Settings. The right stick locks rotation and camera pitch to separate axes.
Infrared remotes
TF-card remote codes, learned keys and direct infrared commands share the remote interface. Actual air-conditioner response still needs on-site testing.
Phone voice assistant
Speak to Xiaozhi through your phone and hear replies on both the phone and robot.
Updates & diagnostics
Reworked OTA downloads and flash writes, backend-hosted Android updates, and retained crash records resolved against the matching firmware ELF.
Networking & idle power
Matched ESP-Hosted 3.0.8 on the P4/C6 pair, a GY-85 nine-axis IMU driver, and camera/servo standby when no control session is active.
Checked, and still to check
Confirmed: the owner confirmed phone speech input and replies from both speakers. APK signature, download integrity, audio routing and session cleanup were checked.
Still to check: long sessions, other networks, echo and timing in different rooms, and actual air-conditioner response. Phone voice requires firmware 2.4.47-phone-audio-dev and trusted device pairing.
Verify the Android download
SHA-256 for esp32-robot-1.4.19-phone-audio-dev-27.apk:
ea6b82568daf1966f947cb04a2b6b31d10d3b9f3ee59b7fd29f1b7ba7602af33On Windows: Get-FileHash ./esp32-robot-1.4.19-phone-audio-dev-27.apk -Algorithm SHA256