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GLYPH Tank Kit

Firmware Repository

Get the Glyph ESP32-S3 firmware, pin configuration, and shared protocol.

Lun-E Project

Explore the tracked rover, controller, and phone app that inspired this port.

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What is the GLYPH Tank?

GLYPH Tank is the Lun-E tracked rover firmware ported to the Glyph ESP32-S3 and a TB6612FNG dual motor driver. It drives two tracks through independent motors, shows animated eyes on an I2C OLED, and accepts commands from a paired Connect thumbstick controller over ESP-NOW or the Lun-E phone controller over Web Bluetooth. The controller that moves first takes control. If its commands stop for 0.3 seconds, the firmware stops the motors. The Bluetooth device name is Lun-E Glyph-XXXX, with the suffix taken from the board’s MAC address.
The whybit Lun-E RC page describes a different, custom ESP32-C3 board with a DRV8833 driver. Use the Glyph S3 and TB6612FNG connections below for this firmware; the C3 board’s pinout and power design do not apply here.

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Hardware and pin map

The firmware repository provides the following signal pin map. You also need a tracked chassis, two suitable motors, an OLED, a motor power source, and a shared ground. Select the motor supply and wiring to match your actual motors, driver board, and Glyph hardware; the repository does not publish a complete Glyph Tank power schematic or mechanical bill of materials. Check src/config.h before wiring or changing motor direction. Headlights are disabled, and the Gate pin is currently unused by the firmware.

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Build and flash

The project uses PlatformIO with pioarduino (Arduino-ESP32 core 3.x). Its platformio.ini selects the Glyph-compatible ESP32-S3 environment, a 4 MB flash setting, USB CDC, and the NimBLE-Arduino and U8g2 libraries. PlatformIO downloads those libraries when building. The repository notes that the stock espressif32 platform on core 2.x cannot build this project, so keep its configured platform URL.
1

Prepare the hardware

Wire the OLED and motor driver to the GPIOs above. Keep the tracks off the ground for the first motor test and confirm the motor power rail and common GND before powering the driver.
2

Open the repository in PlatformIO

Clone or download pcbcupid/Glyph-Tank, then open the folder containing platformio.ini in PlatformIO.
3

Upload and monitor

Connect the Glyph S3 over a USB data cable and run:
The monitor runs at 115200 baud. If upload cannot connect, hold BOOT while plugging in USB, then retry.
4

Test direction and control

With the tracks raised, command forward motion and check that both tracks turn forward. If not, review MOTOR_A_IS_LEFT, MOTOR_LEFT_INVERT, and MOTOR_RIGHT_INVERT in src/config.h before driving on a surface.

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Drive the tank

  • Connect controller: Pair the Lun-E Connect thumbstick controller with the rover, then push the stick to drive and lean it to steer. The controller and rover must use the same shared protocol; if you change it, update both boards.
  • Phone: Open whybit.in/drive in a Web Bluetooth-capable browser, connect to Lun-E Glyph-XXXX, and use the on-screen controls. The phone controller page lists browser support and keyboard controls.
Two motor speeds provide differential steering: equal speeds go straight, slowing one side turns toward it, and opposite directions pivot in place. The firmware’s 0.3-second command timeout is an additional stop behavior; test the full drive system with the tracks raised before floor use.

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Current limits and troubleshooting

The Glyph Tank repository is the source for this S3 firmware. Whybit’s Lun-E pages show the broader rover design and its evolution, including hardware versions that use different boards and drivers.