This Arduino example for the the legoino (https://github.com/corneliusmunz/legoino) library uses an Atom Matrix ESP32 devices as a BLE remote control for the Lego Boost robot Vernie, or similar tracked vehicles.
It allows to drive the Lego Boost robot by tilting the AtomMatrix device using its built-in accelerometer.
A visualization on the matrix shows how the tilting angles would drive the 2 motors/tracks. Pushing the AtomMatrix button toggles between active motor drive and idle (default).
Additionally, the distance sensor is used to control the LED on the BoostHub, while the detected color is shown on the AtomMatrix.