I am building a robot named GrowBuddy using ESP32. I need an experienced embedded developer to write clean and optimized firmware for the ESP32. Project Overview: GrowBuddy is a mobile service robot with the following features: 1. Face-following movement (commands will be sent from Android app via WiFi) 2. Obstacle avoidance using Ultrasonic sensor (HC-SR04) 3. Motor control using L298N motor driver 4. Servo motor control for grabbing objects 5. WiFi communication between Android app and ESP32 6. Stable and responsive real-time movement 7. Clean modular code (well structured, commented) ⸻ Hardware Being Used: • ESP32 Dev Board • L298N Motor Driver • 2 DC Motors • Ultrasonic Sensor (HC-SR04) • Servo Motor (for grabbing arm) • WiFi communication (HTTP or TCP based) ⸻ Required Functionality: 1. ESP32 should connect to WiFi. 2. Receive movement commands from Android app: • Forward • Backward • Left • Right • Stop • Grab 3. Implement obstacle avoidance logic: • Stop if object is closer than defined distance. 4. Servo control logic for grabbing and releasing objects. 5. Smooth motor control. 6. Non-blocking code (avoid heavy delays). 7. Well-commented and scalable code structure. ⸻ Deliverables: • Complete working ESP32 code (.ino file) • Clear pin mapping documentation • Basic wiring diagram (optional but preferred) • Short explanation of code structure ⸻ Preferred Skills: • ESP32 programming (Arduino framework) • Motor driver control (L298N) • Embedded C++ • WiFi server/client implementation • Real-time robotics logic