I've already completed this project, however, since a lot of work has gone into each part of this project i'm going to split up the logs for better readability. I hope that someone looking to create a similar project finds this project and can use it as a jumping off point, there were no shortage of hurdles to overcome over the course of this project for me. With that said, what were the goals for creating this project: 

1. Be simple and easy to upgrade/modify: this bot really is designed to be a proto-type proof of concept so when we design a new one the majority of components and circuity can stay as is. Therefore, the control board should be able to work with a small or medium sized motor depending on the requirements we decide later. 
2. Have a web-interface for control: The best reason to use the ESP32 in this project is for it's wifi capabilities, ideally it will be able to communicate with a central computer for the purposes of the game the bots will play. (basically battle bots playing laser-tag). 
3. operate predictably and responsively to user input: no sense in controlling a small robot if all your commands are going to be delayed. 

With that said lets get into it starting with the hardware!