# Waveshare WAVE ROVER > Flexible 4WD mobile robot chassis with all-metal body, ESP32 controller, 0.91\" OLED, 9-axis IMU, 3S UPS power system, and open-source firmware. Supports Raspberry Pi and Jetson Nano as host computers. ## Quick Facts - **Brand:** Waveshare - **Board Type:** robot-platform - **Price:** ~$89.99 - **Product Readiness:** consumer - **CPU:** ESP32-WROOM-32 - **CPU Architecture:** Xtensa LX6 dual-core - **CPU Cores:** 2 - **RAM:** 520KB SRAM - **PSRAM:** N/A - **Flash:** 4MB - **USB:** USB-C (CP2102) - **Power:** 3S 18650 Li-ion / 12.6V 2A charger - **Operating Voltage:** 3.3V - **Dimensions:** 194 x 168 x 100mm - **Weight:** 860g - **Antenna:** IPEX1 - **SD Card:** microSD - **Display:** 0.91" OLED 128x32 ## Connectivity - **Wifi:** 802.11 b/g/n - **Bluetooth:** BLE 4.2 ## Open Source - **Firmware:** Yes - **Schematics:** Yes - **PCB Layout:** No ## Compatible Firmware arduino, esp-idf, micropython ## Use Cases - mobile-robot - stem-kit - iot-gateway - autonomous-navigation ## Components - **ESP32-WROOM-32** (mcu): Dual-core WiFi & Bluetooth sub-controller for motion and sensor processing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.espressif.com%2Fsites%2Fdefault%2Ffiles%2Fdocumentation%2Fesp32-wroom-32_datasheet_en.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **TB6612FNG** (motor-driver): Dual H-bridge MOSFET motor driver for 4 N20 geared motors — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.sparkfun.com%2Fdatasheets%2FRobotics%2FTB6612FNG.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **QMI8658C** (imu): 6-axis IMU (accelerometer + gyroscope) for motion sensing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fqstcorp.com%2Fupload%2Fpdf%2F202202%2FQMI8658C%2520datasheet%2520rev%25200.9.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **AK09918C** (magnetometer): 3-axis electronic compass for heading detection — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.akm.com%2Fcontent%2Fdam%2Fdocuments%2Fproducts%2Felectronic-compass%2Fak09918c%2Fak09918c-en-datasheet.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **INA219** (current-sensor): I2C voltage/current/power monitor for battery management — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.ti.com%2Flit%2Fds%2Fsymlink%2Fina219.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **CP2102** (usb-uart): USB-to-UART bridge for programming and LIDAR data — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.silabs.com%2Fdocuments%2Fpublic%2Fdata-sheets%2FCP2102-9.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **SSD1306** (display-driver): 0.91-inch 128x32 OLED display for status monitoring — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fcdn-shop.adafruit.com%2Fdatasheets%2FSSD1306.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - **GF12-N20** (motor): N20 geared motor, 12V rated, 200 RPM, 0.7 kg.cm stall torque (x4) — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FWAVE_ROVER&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) ## Protocols - **I2C** - **UART** - **SPI** - **PWM** - **ESP-NOW** - **HTTP** ## GPIO Map | Pin | Name | Type | Functions | |-----|------|------|-----------| | GPIO25 | Motor A PWM | — | — | | GPIO26 | Motor B PWM | — | — | | GPIO17 | Motor A direction | — | — | | GPIO21 | Motor A direction | — | — | | GPIO22 | Motor B direction | — | — | | GPIO23 | Motor B direction | — | — | | GPIO32 | I2C SDA | — | — | | GPIO33 | I2C SCL | — | — | | GPIO18 | Servo UART RXD | — | — | | GPIO19 | Servo UART TXD | — | — | ## Accessories - external-antenna - Raspberry Pi 4B - Raspberry Pi Zero ## Available Software - **[ugv_base_general](https://openhardware.directory/r?to=https%3A%2F%2Fgithub.com%2Fwaveshareteam%2Fugv_base_general&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export)**: ESP32 Arduino firmware for motion control, sensors, and ESP-NOW ## Description # Waveshare WAVE ROVER The Waveshare WAVE ROVER is a compact, all-metal 4WD mobile robot chassis designed as a versatile base platform for robotics projects. Built around an ESP32-based driver board, it provides WiFi and Bluetooth connectivity, motor control, sensor fusion, and expansion interfaces out of the box. ## Chassis Design The chassis uses 2mm thick 5052 aluminum alloy construction with an upper surface area of 17,551 mm squared. Four rubber-tired nylon-hub wheels (80mm diameter, 42.5mm width) driven by N20 12V geared motors (GF12-N20, 200 RPM) deliver a top speed of 1.25 m/s with zero-radius turning capability. The platform handles 22-degree inclines, clears 40mm vertical obstacles, and carries up to 0.8 kg payload. ## Electronics The onboard ESP32 driver board (General Driver for Robots) includes a TB6612FNG dual H-bridge motor driver, QMI8658C 6-axis IMU with AK09918C magnetometer (9-axis total), INA219 battery monitor, 0.91-inch OLED display, CP2102 USB-UART bridges, and a TF card slot. Communication options include WiFi AP/STA mode, Bluetooth, ESP-NOW, UART, I2C, and serial bus servo control. ## Power System A built-in 3S UPS module accepts three 18650 lithium-ion batteries (sold separately), providing regulated 5V and 3.3V outputs. The system supports simultaneous charging and discharging via the included 12.6V 2A power supply, with real-time voltage and current monitoring through the INA219. ## Host Computer Support The mounting plate accommodates Raspberry Pi 4B, Jetson Nano, Jetson Orin Nano, and Raspberry Pi Zero. A 40-pin header provides UART communication between the ESP32 and the host. Additional mounting points support LD19/STL-27L LIDAR modules and pan-tilt camera systems. ## Software All firmware is open-source and supports Arduino IDE development. The ESP32 runs a web server for WiFi-based control, supports ESP-NOW for multi-robot communication, and provides JSON-based command interfaces over UART for host computer integration. ## Where to Buy - [Waveshare](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwave-rover.htm&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) — $89.99 ## Resources - [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwave-rover.htm&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - [github](https://openhardware.directory/r?to=https%3A%2F%2Fgithub.com%2Fwaveshareteam%2Fugv_base_general&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - [wiki](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FWAVE_ROVER&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) - [schematics](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fw%2Fupload%2F3%2F37%2FGeneral_Driver_for_Robots.pdf&ref=openhardware.directory&product=waveshare-wave-rover&source=md-export) ## Tags `robotics`, `rover`, `esp32`, `4wd`, `open-source`, `mobile-robot`, `raspberry-pi`, `jetson-nano` ## Images ![Waveshare WAVE ROVER](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-wave-rover/6f4c029fd840.jpg) ![Waveshare WAVE ROVER](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-wave-rover/97803898dda6.jpg) ![Waveshare WAVE ROVER](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-wave-rover/9ebe0f8d5a6d.jpg) --- [View full device page](https://openhardware.directory/devices/waveshare-wave-rover)