With an Adafruit Feather ESP32, custom motor controller board, and NEMA 8 steppers with 3D printed Technic adapters, this little tank has a lot more going on under the hood than you might expect.

However, [bor0] has built a virtual machine that runs on the ESP32, allowing for dynamic program ... replacing them with those that control IO pins. Registers have also been changed to 16 bits ...