Software
Windows controller: builds/MILA-Controller.exe shows MILA's own web page in a window, so it always matches the page. Source: scripts/web_controller.
Related Projects
Overview
Website: https://cursedprograms.github.io/MILA-Robot-v00/
MILA is a small tank-chassis robot you can drive over WiFi. She hosts her own web dashboard, streams live sensor data, and can steer itself around obstacles.
- Drive modes: WASD (car-style), TANK (independent tracks) and OBSTACLE (autonomous).
- Live telemetry: front, left and right distance, temperature, humidity and the last IR remote key.
- WiFi dashboard: served by the ESP8266 on port
5010. She joins the fleet's "RIFT" network first, NORA's "NORA" network if there's no RIFT, and hosts her own "MILA" access point at 192.168.4.1 if neither is around - and keeps looking, so she moves to RIFT (or NORA) as soon as it appears.
- Safety: a collision guard force-stops her in manual modes, and a watchdog stops her if the connection drops.
- Speed: cycle 100 / 75 / 50 / 25 % from the IR remote, or set an exact value from the dashboard slider (see the pinout warning below).
- MIND mode: the LLM on her PC controller drives her, one short move at a time: she looks (her distances, or a SCAN left / ahead / right), thinks out loud on screen, says what she's doing in her own voice (playful and quick), moves, and remembers. M on the Python controller, or MIND on her dashboard while it's connected. Only on an x86 PC with 8 GB+ RAM and a GTX 1050 or better.
- Ticks near walls: driving forward, the buzzer ticks faster as a wall gets close, like a parking sensor (ticks, not a tone: the buzzer shares a timer with the IR receiver).
- Lights in the dark: driving forward in the dark (the light sensor), her LED goes white instead of blue to light the way.
- Android app (
Android App/, package com.synthwomb): FIND gets her address from the fleet list, or type it in. Hold the stick to drive, let go to stop, and her modes, HELLO, DANCE, speed and the wheel lock are buttons. Build it with gradlew assembleDebug. Install: MILA-debug-2026-10-30.apk.
- FOLLOW: she keeps your hand 30 cm from her sonar, in short pulses. A button on her dashboard, F on the Python controller, 4 on the remote (a guessed code).
- HELLO and DANCE: on the spot, in WASD or TANK: her sonar head shakes and she beeps. Buttons on her dashboard, H and N on the Python controller, 5 and 6 on the remote (guessed codes). Anything from her ESP cuts them short.
- Live view: her Python controller draws her from above, tracks turning, sonar reaching out.
- Several devices: up to four can be unlocked at once, her page follows a mode changed elsewhere, and
/status carries rev, her settings in one number.
- Gamepad rumble: the pad buzzes harder as she nears a wall while you drive her forward.
- The Python controller unlocks her with her PIN when it connects (it didn't before, so every drive command came back LOCKED).
Hardware
- Small metal tank robot chassis
- UNO + WiFi R3 style board (ATmega328P + integrated ESP8266)
- 2S 18650 battery pack
- L298N motor driver
- MG95 servo
- HC-SR04 ultrasonic sensor
- 2× 5 V DC motors
- RGB LED
- AHT10 temperature & humidity sensor (I2C)
- Photoresistor module (digital out)
- Buzzer
- NEC IR receiver + remote
Pinout (scripts/MILA/MILA.ino)
| Signal | Pin | | Signal | Pin |
|---|
| Ultrasonic TRIG / ECHO | 2 / 3 | | Servo | 11 |
| Right motor IN1 / IN2 / ENA | 4 / 5 / 9 | | Buzzer | 8 |
| Left motor IN3 / IN4 / ENB | 6 / 7 / 10 | | Light sensor (DO) | 12 |
| RGB LED R / G / B | A0 / A1 / A2 | | IR receiver | A3 |
| AHT10 SDA / SCL | A4 / A5 | | ESP8266 link | Serial (DIP 1 + 2) |
[!WARNING]
Speed control and the servo share a timer. ENA and ENB are on pins 9 and 10, which the Servo library takes over (Timer1). At 100 % speed the motors are switched fully on and work. At 75 / 50 / 25 % the PWM is lost, so the motors may barely move or stop, and the servo can twitch. Fix it by swapping four wires and the matching constants in MILA.ino: ENA ↔ IN2 (ENA → 5, IN2 → 9) and ENB ↔ IN3 (ENB → 6, IN3 → 10). Pins 5 and 6 are Timer0 PWM, which nothing else uses.
Desktop controllers
Every controller lives in scripts/ and has a build-and-run script in .sh, .bat and .ps1 form.
| Language | UI toolkit | Run | Radar & graphs | Gamepad |
|---|
| Python | pygame | run.sh | | |
| C++ | Win32 / GDI | scripts/run-cpp.* | ✓ | ✓ |
| C# | WinForms | scripts/run-csharp.* | ✓ | ✓ |
| F# (preview) | WinForms | scripts/run-fsharp.* | ✓ | ✓ |
| Rust | egui | scripts/run-rust.* | | |
| Go | Ebitengine | scripts/run-go.* | | |
| Julia | GLMakie | scripts/run-julia.* | | |
Controls
Every key, gamepad button and remote button. The same list opens in its own window: F1 in the Python controller, KEYS on her web page (/keys), or python scripts/keymap.py.
Keyboard: web page and every desktop controller
This is the beginning of the README. Read the rest at the original. Read the full README ↗
