Bluetooth Rover App/Android & ESP32 Firmware

I’m rebuilding the control stack for a small rover that runs on an ESP32-C3 and an H-bridge. The original Wi-Fi/web-server sketch tends to lock itself in a blocking loop, so commands arrive late and the motors sometimes behave erratically. Rather than patch that code again, I want to add a brand-new Bluetooth link and keep the control logic non-blocking from the start.

Scope
• Android side: a lightweight app (Java or Kotlin is fine) that pairs over Bluetooth and presents straightforward buttons—Forward, Reverse, Stop for the drive motor and On/Off for the brush motor. A simple connection/battery indicator would be a bonus, but the core need is reliable, basic on/off control.
• Firmware side: clean Arduino-style code for the ESP32-C3 that listens for those commands and toggles two H-bridge outputs without ever stalling the main loop. Use my current sketch only as a pin-mapping reference; the new version must avoid the loop-blocking issue and smooth out the occasional motor glitches.

Deliverables
- Android Studio project with source, ready to build and install.
- PlatformIO or Arduino IDE project for ESP32-C3 with clear comments.
- README detailing wiring, pairing steps, and the command protocol.
- Quick demo evidence (log or short clip) showing both motors responding instantly.

If you’re comfortable with Bluetooth, ESP32-C3, and simple motor control, this should be a fast, clean job.