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Having explored precise motion control with the Robotic Arm and intelligent vision with the Smart Camera, let's take the next logical step: combining these capabilities onto a mobile platform. This project guides you through building a 4WD FPV (First Person View) RC Car, a versatile robot that brings together locomotion, optional manipulation, and real-time video streaming within the HomeGenie ecosystem.
Integrating motion and vision
This FPV RC Car serves as an excellent practical example of system integration, demonstrating how multiple HomeGenie Mini devices, each running specialized firmware, can collaborate under the orchestration of HomeGenie Server to create a complex, interactive machine. It's a platform ripe for experimentation with telepresence, autonomous navigation (leveraging AI vision), and remote interaction tasks.
A dual-controller architecture
To effectively manage the distinct tasks of complex motion control and high-quality video streaming, this project utilizes a dual-controller architecture:
- Motion controller (ESP32-S3 Zero with
smart-motorfirmware): Dedicated to handling the real-time demands of controlling up to 8 servos simultaneously (4 for 4WD skid-steering drive and 4 for the optional robotic arm). This ensures smooth, responsive movement without being burdened by video processing. A custom PCB with stabilizing capacitors is recommended for reliable power delivery to the servos. - FPV camera (ESP32-S3-CAM with
smart-camfirmware): Focused solely on capturing, encoding, and streaming the video feed. Using a separate ESP32-S3-CAM (preferred for its performance) guarantees the best possible video quality and frame rate for FPV piloting and allows for seamless integration with HomeGenie Server's AI vision processing pipelines without impacting motion control.
Both ESP32 devices communicate independently via WiFi/MQTT with HomeGenie Server, which synchronizes control inputs, displays the video feed, runs automation logic, and applies AI algorithms locally.
Project Highlights
Building upon the previous projects, the FPV RC Car offers:
- Agile 4WD skid steering: Precise speed control of four continuous rotation servos enables robust locomotion on various surfaces.
- Real-time FPV: Low-latency video streaming directly from the ESP32-S3-CAM.
- (Optional) Integrated robotic arm: Adds manipulation capabilities using the previously built 4-axis arm.
- Unified control interface: Combines a custom driving widget with standard HomeGenie camera and arm controls in a single dashboard.
- Advanced AI vision ready: Directly compatible with HomeGenie Server's object detection, pose estimation, etc., for autonomous tasks or enhanced remote operation.
Platform Features
All projects based on the HomeGenie Mini firmware, including this one, come with these powerful features built-in:
- Seamless Wi-Fi Connectivity: Effortlessly connect to your 2.4 GHz Wi-Fi network with simple WPS pairing.
- Global Remote Control: Monitor and control your project from anywhere in the world using the intuitive HomeGenie Panel app via a secure MQTT connection.
- Enhanced Security: Enjoy end-to-end encryption for all data, including video feeds, with secure offline key exchange.
- Universal Integration: A clean and simple HTTP API makes it easy to integrate with any third-party system or custom script.
- Built-in Automation: Create custom schedules and automate complex tasks with a powerful engine that natively supports JavaScript.
- Powerful Edge AI: Unleash the power of cutting-edge AI algorithms and tools through native integration with HomeGenie Server.
Getting started
This guide walks through the construction of the 3D-printed FPV RC Car.
Hardware Requirements
The components for this project are widely available and affordable. The list is divided into core components and an optional robotic arm module.
Core Components
- Main Controller: 1x ESP32-S3 Zero
- Camera Module: 1x ESP32-S3-CAM with OV2640/OV3660 sensor
- Suggested: Night Vision (850nm), 160-degree lens.
- FFC Camera Cable: Choose one based on your build:
- 75mm length for the car without the robotic arm.
- 200mm length if you are installing the robotic arm.
- Motor controller PCB: 1x custom PCB for main controller and servos
- Drive Motors: 4x MG90S 360° continuous rotation servos.
- Power: 2x 6V Battery Packs (e.g., NiMH 2200mAh).
- Connectivity: 1x External WiFi antenna with U.FL/IPEX pigtail cable.
- Wheels: Mecanum 48mm wheels set (2x Left + 2x Right)
Fasteners & Wiring
- M2 Screws:
- 12x 8mm (for main assembly)
- 6x 4mm (2 for PCB container, 4 for PCB bracket)
- M2 Nuts: 4x (Optional, for added stability)
- Wiring: 1x Futaba 10cm servo extension cable if required when mounting the robotic arm
Optional: Robotic Arm Module
To mount the Robotic Arm on the car, you will need the pre-assembled arm from the linked project. You will reuse the following parts from its original base stand (which is not used in this build):
- Pre-assembled Arm: The main body of the robotic arm.
- Rotation Servo: 1x standard servo (previously used for the arm's base rotation).
- Mounting Hardware: The main bracket and horn holder plate used to attach the arm to its original base.
Printing the Car Parts
Download the 3MF or STL archive file from the Files section below. The archive contains all the 3D printable parts needed to build the FPV RC Car.
Included Parts:
- Main Chassis
- Top Chassis
- Servo Mounting Brackets (x4)
- Electronics Tray (rear container)
- Top Cover (for camera and antenna)
- Mecanum Wheels Adapters (x4)
Recommended Print Settings
The total print time is approximately 5 hours with standard settings (e.g., 0.4mm nozzle, 0.20mm layer height).
However, for the Mecanum Wheels Adapters, it is highly recommended to use a finer 0.12mm layer height. This will ensure the best results and a precise fit for the wheels.
Material recommendations
- Chassis, Covers, Wheels, Brackets: High-quality PLA or PETG.
Ensure your slicer software correctly interprets the 3MF file and its settings. Verify printer calibration for dimensional accuracy, especially for parts that need to fit together precisely.
Optional: 3D Printed wheels
If you prefer to print your own wheels instead of purchasing Mecanum wheels, in the 3d printing files archive you will also find files for:
- Wheels (x4)
- Tires (x4)
Material recommendations for printed wheels:
- Wheels: Print in PLA or PETG for rigidity.
- Tires: For the best grip, print the tires separately using flexible TPU filament. If you cannot print TPU, the file also includes a version of the wheel with an integrated tire that can be printed as a single unit in PLA/PETG, though with reduced grip.
Firmware upload and initial setup
Before assembling install HomeGenie Mini firmware on both ESP32 boards. By doing so, you can easily verify if the assembly works as expected while assembling the RC Car base, the FPV Camera and the Robotic Arm.
- Flash ESP32-S3 Zero board: Use the firmware upload form below. Select the
smart-motorprofile compatible with your ESP32 board. Configure it for 8 servo motors if using the arm (Connectors S1-S4 for Drive, S5-S8 for Arm), or 4 servos (S1-S4 for Drive) if building the car only. - Flash ESP32-S3-CAM: Follow the instructions from the Smart Camera + AI page to set up the camera firmware.
Assembling the FPV RC Car
Follow the video and images below for assembly.
Chassis and drive assembly
Mount the four MG90S 360° drive servos into the main chassis base. Attach the small plastic brackets to each servo using two M2 screws, then fasten them. Attach the wheels firmly to the servo shafts and secure them with the included screw.
Battery and electronics housing
This RC Car requires two battery packs: one for the ESP32-S3 Zero (Motion Controller) and its connected servos, and another dedicated to the ESP32-S3-CAM. Install the first battery pack (for motion controller) in its compartment, ensuring its cable points towards the rear of the chassis. Position the second battery pack (for the camera) on top of the first one.
Place the electronics container on the back of the chassis and secure it with two screws. Neatly route all servo wires into the container and connect them to the custom PCB shield.
Now, install the robotic arm's base servo on the underside of the Top Chassis with its two included screws. Then, join the Top Chassis to the Main Chassis, fastening them together with four screws from underneath.
At this point, you can briefly connect the battery power cable to test if the motors are working as expected using HomeGenie Panel or HomeGenie Server UI. Be extremely careful when connecting the battery to respect the correct polarity (+/-); reversing polarity can severely damage the board.
Top cover, FPV camera and antenna
Before attaching the top cover, the ESP32-CAM module must be installed.
First, carefully thread the camera sensor's FFC cable through the designated hole and connect it to the ESP32-CAM. Then, place the module into its compartment inside the top cover and secure it with its bracket and four screws. The bracket is designed to leave only the two battery pins accessible via a keyed slot, which prevents accidental reverse polarity.
Next, connect the antenna pigtail cable (U.FL/IPEX) to the ESP32-CAM. Mount the other end's connector in the rear hole of the top cover, securing it with its nut.
Finally, screw the external antenna onto the connector and place the completed top cover onto the chassis.
Mounting the Robotic Arm (optional)
If you are installing the Robotic Arm, ensure its base servo is already mounted under the Top Chassis.
First, assemble the arm's rotating base. To do this, press a servo horn into the main bracket, mount this assembly onto the servo shaft, and lock it with the central screw. Then, reinforce the joint by placing the horn holder plate on top and securing it with four M2x4mm screws.
Next, mount the arm itself in two parts by securing first the left bracket and then the main arm body to the rotating base with their respective screws. Finally, route the arm's servo cables through the chassis and connect them to the PCB as shown in the diagram.
The final assembly step is to install the camera sensor. To do this, you'll need to route its cable through the arm's wrist. Temporarily unscrew the left wrist bracket to create a gap. Carefully feed the FFC cable through the opening, then re-secure the bracket, making sure the cable is not pinched. Finally, mount the camera sensor (inside its bracket) to the underside of the gripper using two screws.
Assembly complete. To power on the device, connect the battery plugs to the motor PCB and the ESP32-CAM. The FPV Car is now ready for operation.
HomeGenie Motor Controller PCB
To simplify wiring and ensure stable power delivery for demanding motor applications like the FPV RC Car, we've designed the HomeGenie Motor Controller Shield. This custom PCB is specifically tailored for ESP32-C3/S3 development boards (e.g., ESP32-S3 Zero) and offers a clean, robust solution for controlling multiple servo motors with flexible power management.
Key features of the shield include:
- Up to 8 servo motor outputs: Clearly labeled 3-pin headers for easy connection.
- Flexible powering options with Jumper selection:
- Shared Power Mode: A single power source (connected to the main power input) supplies both the ESP32 board (via a dedicated 2-pin ESP32 power header on the shield) and all connected servos. The ESP32's USB port remains accessible for firmware updates or alternative powering if desired. This mode is suitable when the total current draw is within the limits of the power source and ESP32 board's onboard regulator.
- Isolated Power Mode: Use two separate power sources. One connects to the main servo power input (for high-current servo operation with custom amperage limits, e.g., 5A or more), and another (e.g., 5V) connects to the dedicated 2-pin ESP32 power header on the shield, or the ESP32 is powered via its USB port. This mode fully isolates the ESP32's power rail from servo-induced noise and high current draw, ensuring maximum stability for the microcontroller.
- A jumper on the shield (visible in the assembly images) allows easy selection between "Shared" and "Isolated" power modes.
- Dedicated ESP32 Power Header: Allows powering the ESP32 board directly from the shield, independent of its USB port, especially useful in isolated power mode or for a cleaner setup.
- Onboard Capacitor Mounts: Provisions for soldering up to 4 electrolytic or polymer capacitors. In the example build, 2x 1000µF 16V aluminum polymer capacitors were used for robust power stabilization, though values like 470µF are also common depending on the load. These capacitors help stabilize the servo power rail, reducing noise and preventing brownouts.
This shield is the ideal companion for the FPV RC Car and Robotic Arm projects, providing a reliable and versatile foundation for your mechatronic creations.
Project files download
(updated 12 July 2025)
FPV RC Car V2
PCB Gerber download V1 R02
FPV RC Car 3MF download V2 R02
FPV RC Car STL download V2 R02
FPV RC Car files by G-Labs licensed under CC BY-NC 4.0
Create this device now! 🪄
Flash the Motion Controller (ESP32-S3 Zero) with the smart-motor firmware:
Connect your ESP32/ESP8266 microcontroller to your computer via USB, select your firmware version, and click "Create device" to upload the HomeGenie Mini firmware.
1. Select device type
2. Select firmware flavor
VERSION
3. Let the magic happen!
Installing firmware directly from this page works only in browsers with Web Serial API enabled.
( - )
(To flash the FPV Camera (ESP32-S3-CAM), please refer to the firmware upload instructions on the Smart Camera + AI page).
See the Device setup page for further information about configuring a HomeGenie Mini device after flashing.
Modules and API
In addition to the common Device API, this device implements the following modules and API.
MT1 module - Motion Control
This module coordinates the 4WD motors to move the FPV RC Car forward and backward. Because of the way the 4 servo motors are mounted, to achieve the correct motion the 2 wheels in the back (S1 and S2) will always move in the opposite direction of the two in the front (S3 and S4).
Domain / Address
Automation.Components/MT1
Properties
Status.Level
Commands
Control.Level/<level>
Where<level> ::= [0 - 100]50
Stop (rest position)51 - 100
Move forward (51 = min speed, 100 = max speed)1 - 49
Move backward (49 = min speed, 1 = max speed)
Note: for backward motion, the speed scale is inverted.
Example
Entering the following URL in a browser or other HTTP client will cause the FPV RC Car to move slowly forward.
HTTP
http://<device_address>/api/Automation.Components/MT1/Control.Level/60
Serial terminal
/api/Automation.Components/MT1/Control.Level/60
ST1 module - Steering Control
This module makes the FPV RC Car spin on the spot (tank steer). To achieve this, the wheels on the right side (S1, S3) move in the opposite direction of the wheels on the left side (S2, S4).
Domain / Address
Automation.Components/ST1
Properties
Status.Level
Commands
Control.Level/<level>
Where<level> ::= [0 - 100]50
Stop (rest position)51 - 100
Spin right (51 = min speed, 100 = max speed)1 - 49
Spin left (49 = min speed, 1 = max speed)
Note: for spinning left, the speed scale is inverted.
Example
Entering the following URL in a browser or other HTTP client will cause the FPV RC Car to start spinning to the left at a moderate speed.
HTTP
http://<device_address>/api/Automation.Components/MT1/Control.Level/20
Serial terminal
/api/Automation.Components/MT1/Control.Level/20
S<n> module
Represents and controls the servo motor with address S<n> where <n> can be from '1' to '8'.
In the FPV RC Car configuration, S1 to S4 are the 4WD motors. When the Robotic Arm is enabled, S5 to S8 control the 4 axes of the arm.
Domain / Address
Automation.Components/S<n>
Properties
Status.LevelStatus.ColorHsbStatus.ErrorMotor.Type
("Servo" | "ServoEncoder" | "Stepper")Motor.Type.Servo.AngleMin
(default0)Motor.Type.Servo.AngleMax
(default180)Motor.Type.Servo.AngleSpeed
(1-10, default10)Motor.Type.ServoEncoder.Speed
(1-10, default10)Motor.Type.ServoEncoder.Steps
(max steps - configurable via calibration)Motor.Type.ServoEncoder.Calibrate
(calibration status)
Commands
Control.Level/<level>
(0-100)Control.Open
(same as "Control.On" and "Control.Level/100")Control.Close
(same as "Control.Off" and "Control.Level/0")Motor.Calibrate
(same as "Shutter.Calibrate")
