BGB ESP32 CYD Remote Controller for QB and other BT Enabled Robots

Brittle Gum Benchworks’ (BGB) remote controller uses an ESP32 CYD (cheap yellow display) as a remote controller for classic Bluetooth enabled robots like BGB’s QB and HP Robots’ OTTO, and it will work with any Bluetooth Classic (SPP) enabled robot. Note: BLE, ESP NOW and WiFi are not supported at this stage.

Unique robot friendly features not seen in other remote controllers.

1) A history/queue display which, in history (H) mode shows the last 12 commands sent to the robot and in queue (Q) mode shows up to 12 commands that are being queued for sending to the robot when the [Send] button is pressed. More than just a remote, the BGB Controller is a tool for “pre-coders”, as Q mode introduces young people the core programming concept of sequencing — the robot doesn't move until the "program" is sent, allowing the user  to visualize and predict the robot's path before it happens.

2) A status display that shows information sent by the robot to the controller – for example current operations like searching, scanning, moving, and waiting, Distance to object, and/or battery level...  IMPROVED:  In the early release version the status display did not refresh properly. This has now been fixed.

3) 6 buttons labeled A-F that can be used as robot routine initiators - with the use of the Shift key up to 12 routines can be initiated.

The remote controller also has 5 directional buttons (forward, reverse, left, right, and stop) as seen on other control devices.

Principle of operation

Depending on which button is pressed, the RC sends the characters 8 (up), 6 (right), 2 (down), 4 (left), 5 (center), the lowercase letters a…f (A...F) or uppercase letters A...F (“Shift” + A...F ).  The robot must be programmed to receive these characters using BTSerial and react appropriately when the characters are received.  Example code and guidance is included in the downloads.

Included in the downloads:

1. The Arduino code for ESP32 CYD devices (contained in BGB_CYD_Remote_V01.zip. Be sure to follow the instructions in Read_Me_First.txt included in this ZIP.
   Several ESP32 CYD clones are available, none of them are exactly the same. In addition to the files included here, you will need download the appropriate Arduino IDE libraries and board definitions , modify Setup_CYD_Common.h and place it in the correct library directories, and modify User_Setup_Select.h, or the Arduino code will not work.
   
   

2. STLs for a case designed to contain the ESP32 CYD and a Veho Pebble style battery for power. (While other batteries may be used, the one chosen has a built in charger and on/off switch). Also pebble style batteries can be purchased on-line for very little money. Under a certain light, the final look and feel is not too dissimilar to a console handset.  IMPROVED:  The case in the latest release  (2026-Mar-03) is more compact, has been optimized for 3D printing in several ways, and the front window is only small enough to reveal the active areas of the display.
   
   

3. Several photographs of the remote in action and how the components fit together. 
   
   

4. Instructions for use, including snippets that need to be included in the robot’s code so that it can communicate successfully with the remote controller.

See it in action:

Check out the BGB Facebook page to watch the remote trigger the "Hockey Pockey" in real-time!: QB & BGB CYD Remote Videos

No ESP32 CYD? No Problem!

If you don’t have "Cheap Yellow Display" hardware or if programming one is not your thing, you can still join the fun. I have developed a full suite of alternative controls for the QB/OTTO ecosystem, including:

• Android Remote Control App (BGB Robot Controller): Same interface, runs on your phone.

• Blockly Programming (BGB Blockly): Drag-and-drop logic for beginners.

All these resources, plus the full 3D files for the QB Robot, can be found on my original project page here: https://www.printables.com/model/1482943-qb-two-wheeled-arduino-robot-for-makers-of-all-age.

IMPROVED - Several improvements were uploaded on 6 March 2026 - If you were one of the few people who downloaded the model before then, I recommend that you download again.

Use Freely – Share Generously – Acknowledge Thoughtfully

Jorge Garcia, PhD
Principal, Brittle Gum Bench Works

e-mail: [email protected]

Donations (any amount appreciated) : https://paypal.me/brittlegumbw

Visit the Brittle Gum Benchworks Facebook Page: https://www.facebook.com/profile.php?id=61584581375259

Acknowledgements
BGB CYD Remote Controller was coded with the assistance of Gemini (Google). The idea of using an ESP32 as a robot remote controller, and the user interface design - including the idea of having a command History/Queue and alphabetic keys for invoking robot programmed functions are my own alone.

License
This project is licensed under the GNU General Public License v3.0. See https://www.gnu.org/licenses/gpl-3.0.en.html. This license enables you to use the project without restriction, on the condition that any modifications that you make must also be shared in the same way.