ESP32 Robot Remote Design

I’m building a mobile robot and need an ESP32-based physical hand-held controller that can drive it wirelessly via Wi-Fi or Bluetooth. The only actions the robot must respond to are Forward, Backward, Rotate Left and Rotate Right—no arm control for now.

Here’s what I’m looking for:
• Clean, well-commented firmware for both the remote unit and the robot side, written in Arduino IDE or ESP-IDF.
• A lightweight, low-latency communication routine that keeps the link alive and automatically reconnects if the signal drops.
• Pin mapping and a simple wiring diagram for the buttons, power, and any status LEDs you recommend.
• Quick setup notes so I can flash the code and verify that each button triggers the correct motion.

I’ll consider the project complete once I can stand a few metres away, tap the buttons on the physical remote, and watch the robot move smoothly forward, backward, or spin left/right as commanded.