LEGO warehouse and robot arm with ESP32 GUI / HMI

Описание: A high bay stacker crane driving through a dual side 5 row racks with 6levels, making it have 60 storage positions all free to choose where the pallet will go. Or let it go automatically to a random free space. Wanted items can be chosen from the stored items list in the HMI (Human Machine Interface). Same for the boxes stored for pick and place near the robot, they can be returned on command or with the distance sensor giving it a manual command.
All errors / machine problems are constantly shown on a scrolling bar at the top of the screen, big problems that stop the machine in red (like Emergency Stop pushed). Other non critical for the whole machine in orange if they can be solved easily. On one tab of the GUI (Graphical User Interface) all the current + previous errors can be seen and double clicked for more information. The errors that are no more currently can be deleted from this list with a clear error button. The light tower shows also the state of the machine.
Every storage position has an NeoPixel LED that shows the state of it. Green for empty storage place, red if a box is placed. If a request has been made it will alternate white with the current box state. (There is some flickering due to a yet unknown issue). Also sorry for the white lines in the screen, there is some issue with the screen, a new one is on the way.
The master Lego Mindstorms EV3 saves the position of every pallet constantly in an offline txt file, so on restart after homing all motors again, the position is known, and it can start to operate again without moving the boxes around by hand.
The whole video is at normal speed. Some calibration is still left to do on the 6-axis robot (6DoF), this is planned to be done from the touchscreen aswell, but I still need to program this GUI.

Items used in this video;
5x EV3 Mindstorms brick, programmed with PyBricks MicroPython.
LMS-ESP32 from Antonsmindstorms, communicating with UARTremote
ILI9341 2,8" (240x320) touchscreen connected to the ESP with TFT breakout and other items from Ste7an.
19x6 (split in half for 36x3 and 1x6) RGB ws2812 NeoPixel LEDS (from Antonsmindstorms).
Custom made EV3 cables up to 115cm (white ones).

Huge thanks to Anton and Ste7an (Anton's Mindstorms Hacks) for their help, materials and ideas to create this more visual interesting interface for my warehouse. Without their help this wouldn't have been possible for a beginner at programming.