ESP32 Based Face Following Service Robot (GrowBuddy)

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)

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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)

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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.

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Deliverables:
• Complete working ESP32 code (.ino file)
• Clear pin mapping documentation
• Basic wiring diagram (optional but preferred)
• Short explanation of code structure

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Preferred Skills:
• ESP32 programming (Arduino framework)
• Motor driver control (L298N)
• Embedded C++
• WiFi server/client implementation
• Real-time robotics logic