Papaya Pathfinder

Papaya Pathfinder is an open-source family of small remote-controlled rovers based on the ESP32.

The project currently includes two rover variants, designed for different sizes, motors, and power requirements.

All mechanical parts of the rovers are fully 3D-printable, and all models are available in the 3d-models/ directories of each rover variant.

The rovers can be operated using either WiFi or ExpressLRS (ELRS), depending on the firmware configuration.

The rover supports multiple firmware configurations, each enabling a different communication method.

firmware-wifi
- WiFi-based control
- HTTP API for movement commands
- Compatible controllers:
  - Python desktop controller — sends gamepad-based control commands to the rover via HTTP.
  - Android mobile app — enables rover control using a gamepad, providing the same driving experience available on the desktop controller.
firmware-elrs
- Control via ExpressLRS (ELRS)

All STL files for this rover are available in: pathfinder/3d-models/

The complete mechanical design is also available in STEP format: pathfinder/cad/papaya-pathfinder.step

Use PETG or PLA for the structural parts, and TPU for the tires. All parts are designed to be assembled using M3 screws and nuts.

File	Qty	Material	Notes
`body.stl`	1	PETG / PLA	Main chassis
`arm_left.stl`	1	PETG / PLA	Left suspension arm
`arm_right.stl`	1	PETG / PLA	Right suspension arm
`pivot_left.stl`	1	PETG / PLA	Left pivot mount
`pivot_right.stl`	1	PETG / PLA	Right pivot mount
`differential_bar.stl`	1	PETG / PLA	Central rocker-bogie differential bar
`differential_link_left.stl`	1	PETG / PLA	Left link between differential bar and suspension arm
`differential_link_right.stl`	1	PETG / PLA	Right link between differential bar and suspension arm
`motor_mount.stl`	4	PETG / PLA	Motor mounts for GA25 motors used on steering arms
`horn_adapter.stl`	4	PETG / PLA	Servo horn adapters for steering servos. Print horizontally for strength.
`rim.stl`	6	PETG / PLA	Wheel rims
`tire.stl`	6	TPU	Tires

Papaya Pathfinder Mini

ESP32 with camera (ESP32-CAM / ESP32-S3-CAM) (required only when running firmware-wifi)
ELRS receiver (required only when running firmware-elrs)
6× N20 DC gear motors
Power supply: LiPo 2S

The rover supports multiple firmware configurations, each enabling a different communication method.

firmware-wifi
- WiFi-based control
- HTTP API for movement commands
- Live video streaming over WiFi
- Compatible controllers:
  - Python desktop controller — displays the live video stream and sends gamepad-based control commands to the rover via HTTP.
  - Android mobile app — displays the live video stream and enables rover control using a gamepad, providing the same driving experience available on the desktop controller.
firmware-elrs
- Control via ExpressLRS (ELRS)

All STL files for this rover are available in: pathfinder-mini/3d-models/

The complete mechanical design is also available in STEP format: pathfinder-mini/cad/papaya-pathfinder-mini.step

Use PETG or PLA for the structural parts, and TPU for the tires. All parts are designed to be assembled using M3 screws and nuts.

File	Qty	Material	Notes
`body.stl`	1	PETG / PLA	Main chassis
`arm_left.stl`	1	PETG / PLA	Left suspension arm
`arm_right.stl`	1	PETG / PLA	Right suspension arm
`pivot_left.stl`	1	PETG / PLA	Left pivot mount
`pivot_right.stl`	1	PETG / PLA	Right pivot mount
`differential_bar.stl`	1	PETG / PLA	Central differential bar for the rocker-bogie suspension
`differential_link.stl`	2	PETG / PLA	Links between the differential bar and each suspension arm
`motor_retainer.stl`	6	PETG / PLA	Holds each N20 motor
`rim.stl`	6	PETG / PLA	Wheel rims
`tire.stl`	6	TPU	Tires

This project is licensed under the Apache License 2.0.
See the LICENSE file for details.