As a winter project, I’m turning my PinePhone into an indoor robot. The Pinephone has everything needed for a decent stand-alone robot: plenty of CPU, a camera, gyro/accelerometor/compass, display, and it can run Debian.
Below is a video of the hardware in teleop mode. A Lolin32 ESP32 running MicroPython takes commands over Bluetooth LE and sends PWM and direction signals to the FIT0441 motors. The frame is 3D printed.
Currently the phone is just a passenger. The next step is to get the phone to communicate with the IO board.