HomeGenie Mini FPV RC Car in action
Open media
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-ESP32 approach
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.
Core capabilities
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.
Getting started
This guide walks through the construction of the 3D-printed FPV RC Car.
Firmware upload and initial setup
- 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 (Pins S1-S4 for Drive, S5-S8 for Arm), or 4 servos (S1-S4 for Drive) if building the car only. Assign the correct GPIO pins according to your custom PCB wiring. - Flash ESP32-S3-CAM: Follow the instructions from the Smart Camera + AI page to set up the camera firmware for the RC Car. (Note: The firmware upload form below is only for the Motion Controller).
Printing the car parts
Download the 3MF project file containing all components from the Project files section below. This single file includes optimized settings and layout for:
- Main chassis components (base, top cover)
Note: The top cover includes the integrated mounting hole for the optional Robotic Arm's rotation servo. If you initially build the car without the arm, this hole will remain visible. - Servo mounting brackets (4x)
Note: These small brackets secure the drive servos. The two rear brackets also serve as attachment points for the electronics container. - Electronics container (rear case)
- Camera cover (front housing)
- Wheels (4x)
- Tires (4x) - See note below
Printing all parts typically takes around 5 hours with standard settings (e.g., 0.4mm nozzle, 0.20mm layer height).
Material recommendations
- Chassis, Covers, Wheels, Brackets: PETG is recommended for durability and heat resistance. High-quality PLA is also viable.
- Tires: For best grip, print the tires separately using flexible TPU filament (like those shown in the pictures). If you cannot print TPU, alternative files are included within the 3MF project to print the wheel and tire as a single unit using PETG or PLA (expect less grip with this option).
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.
Assembling the FPV RC Car
Gathering hardware
- 3D printed parts including 4x wheels/tires
- 4x MG90S 360° servo motors (Drive)
- (Optional Arm) Pre-assembled Robotic Arm from previous project (minus its original base stand) and 1x Rotation Servo (removed from original stand)
- ESP32-S3 Zero + Custom PCB (with capacitors)
- ESP32-S3-CAM module (OV3660 sensor recommended)
- 2x Battery pack (6V NiMH 2200mAh were used here)
- External WiFi antenna + U.FL cable
- 12x M2 8mm screws and 4x M2 nuts
- Wires, connectors (Dupont/JST as needed)
Follow the image sequences 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. You might want to secure them with the small screw included with the servo kit.
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. 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 ESP32-S3 Zero PCB shield. At this point, you can briefly connect the battery power cable to test if the motors are working as expected via the HomeGenie UI. Be extremely careful when connecting the battery to respect the correct polarity (+/-); reversing polarity can severely damage the board. Position the second battery pack (for the camera) on top of the first one.
Mounting the pre-assembled robotic arm (Optional)
If you have already built the Robotic Arm from the previous example and wish to mount it on the FPV Car:
- Prepare the arm: Carefully detach the main arm assembly (gripper + main body segments) from its original 3D printed base stand. Also, remove the rotation servo from that stand, keeping its servo horn.
- Position servo: Position the rotation servo into the designated slot on the underside of the FPV car's top cover part.
- Attach horn: Secure the double-sided servo horn onto the rotation servo motor shaft using its small screw. Ensure it is aligned correctly for the desired rotation (typically centered horizontally when the servo is commanded to the 50% position - you may need to briefly power the controller and use HomeGenie UI to verify).
- Route cables: Carefully feed the three servo cables from the main arm assembly through the cable pass-through hole in the top cover. (Note: The shortest cable might require an extension to comfortably reach the PCB connector).
- Attach main arm: Align the main arm assembly with the mounting points on the rotating part of the top cover. Secure it using the required M2 screws.
Antenna mounting and top cover attachment
Before attaching the top cover to the car chassis, insert the base of the external antenna's U.FL/IPEX pigtail cable connector through the central hole from the inside and secure it with its nut on the outside. Screw the antenna mast onto this connector base. Finally, carefully position the top cover (with arm attached, if applicable) onto the chassis, ensuring wires are tucked inside. Fasten the top cover using four M2 8mm screws.
FPV camera assembly
Connect the antenna pigtail cable to the U.FL connector on the ESP32-S3-CAM module. Insert the camera module into its dedicated front cover housing. Connect the second battery pack's power cable to the appropriate power input pins on the ESP32-S3-CAM board (typically marked 5V/VCC and GND - verify your specific board pinout). Again, be extremely careful with polarity. Slide the front cover housing onto the front of the main chassis.
Finalizing and recharging
The assembly is now complete! Ensure all wires are neatly tucked away. The front camera cover and the rear electronics container lid can be slid off without removing screws, providing easy access to the batteries for recharging. Use the USB recharging cables provided with the battery packs to recharge them when needed.
HomeGenie Motors Controller PCB
To simplify wiring and ensure stable power delivery for demanding motor applications like the FPV RC Car, we've designed the HomeGenie Motors 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 file download
3D Printed FPV RC Car
PCB Gerber download REV. 2
FPV RC Car 3MF download REV. 4
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
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.
