diff --git a/gemini.md b/gemini.md
index e413786..54c18bc 100644
--- a/gemini.md
+++ b/gemini.md
@@ -22,7 +22,7 @@ only BLE between the ESP32 firmware and a local web SPA.
 
 | Component | Detail |
 |---|---|
-| **MCU** | Tenstar Robot ESP32-C3 Super Mini |
+| **MCU** | Tenstar Robot ESP32-C3 Super Mini (also supports ESP32-S3 and ESP32-WROOM) |
 | **Framework** | PlatformIO + Arduino core |
 | **Motors** | 2× 28BYJ-48 (unipolar stepper via ULN2003 driver) |
 | **Motor mode** | `AccelStepper::HALF4WIRE` — 4096 steps/rev |
diff --git a/platformio.ini b/platformio.ini
index 750dd94..7d772bd 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -1,28 +1,42 @@
 ; PlatformIO Project Configuration
-; Board: Tenstar Robot ESP32-C3 Super Mini (or compatible ESP32-C3)
 ; Project: WijiBoard – BLE SCARA Stepper Controller
 
-[env:esp32-c3-devkitm-1]
+[env]
 platform = espressif32
-board    = esp32-c3-devkitm-1
 framework = arduino
+monitor_speed = 115200
+upload_protocol = esptool
+lib_deps =
+    ; AccelStepper for smooth, non-blocking stepper control
+    waspinator/AccelStepper @ ^1.64
 
-; USB CDC on boot – Serial Monitor works over native USB
+; ---------------------------------------------------------
+; Board 1: ESP32-C3 Super Mini (Original)
+; ---------------------------------------------------------
+[env:esp32-c3-devkitm-1]
+board = esp32-c3-devkitm-1
 build_flags =
+    -D BOARD_ESP32_C3
     -D ARDUINO_USB_MODE=1
     -D ARDUINO_USB_CDC_ON_BOOT=1
-    -D STATUS_LED_PIN=8
-    -D STATUS_LED_ON=LOW
-    -D STATUS_LED_OFF=HIGH
-
 board_upload.flash_size = 4MB
 board_build.flash_mode = dio
 board_build.partitions = default.csv
 
-; Adjust to your COM port
-monitor_speed = 115200
-upload_protocol = esptool
+; ---------------------------------------------------------
+; Board 2: ESP32-S3 (e.g. DevKitC)
+; ---------------------------------------------------------
+[env:esp32s3]
+board = esp32-s3-devkitc-1
+build_flags =
+    -D BOARD_ESP32_S3
+    -D ARDUINO_USB_MODE=1
+    -D ARDUINO_USB_CDC_ON_BOOT=1
 
-lib_deps =
-    ; AccelStepper for smooth, non-blocking stepper control
-    waspinator/AccelStepper @ ^1.64
+; ---------------------------------------------------------
+; Board 3: ESP32 WROOM (e.g. NodeMCU / DevKit V1)
+; ---------------------------------------------------------
+[env:esp32dev]
+board = esp32dev
+build_flags =
+    -D BOARD_ESP32_WROOM
diff --git a/src/Config.h b/src/Config.h
index 155186e..ed1965e 100644
--- a/src/Config.h
+++ b/src/Config.h
@@ -2,17 +2,66 @@
 #include <Arduino.h>
 
 // ─── Motor pin mapping (28BYJ-48 / ULN2003) ──────────────────────
-// Motor 1 – Shoulder
-#define M1_IN1 0
-#define M1_IN2 1
-#define M1_IN3 3
-#define M1_IN4 4
+#if defined(BOARD_ESP32_C3)
+  // ESP32-C3 Super Mini
+  // Motor 1 – Shoulder
+  #define M1_IN1 0
+  #define M1_IN2 1
+  #define M1_IN3 3
+  #define M1_IN4 4
 
-// Motor 2 – Elbow
-#define M2_IN1 5
-#define M2_IN2 6
-#define M2_IN3 7
-#define M2_IN4 10
+  // Motor 2 – Elbow
+  #define M2_IN1 5
+  #define M2_IN2 6
+  #define M2_IN3 7
+  #define M2_IN4 10
+
+  // LED
+  #define STATUS_LED_PIN 8
+  #define STATUS_LED_ON LOW
+  #define STATUS_LED_OFF HIGH
+
+#elif defined(BOARD_ESP32_S3)
+  // ESP32-S3
+  // Motor 1 – Shoulder
+  #define M1_IN1 4
+  #define M1_IN2 5
+  #define M1_IN3 6
+  #define M1_IN4 7
+
+  // Motor 2 – Elbow
+  #define M2_IN1 15
+  #define M2_IN2 16
+  #define M2_IN3 17
+  #define M2_IN4 18
+
+  // LED
+  #define STATUS_LED_PIN 2
+  #define STATUS_LED_ON HIGH
+  #define STATUS_LED_OFF LOW
+
+#elif defined(BOARD_ESP32_WROOM)
+  // ESP32-WROOM (DevKit V1)
+  // Motor 1 – Shoulder
+  #define M1_IN1 13
+  #define M1_IN2 14
+  #define M1_IN3 27
+  #define M1_IN4 26
+
+  // Motor 2 – Elbow
+  #define M2_IN1 25
+  #define M2_IN2 33
+  #define M2_IN3 32
+  #define M2_IN4 23
+
+  // LED
+  #define STATUS_LED_PIN 2
+  #define STATUS_LED_ON HIGH
+  #define STATUS_LED_OFF LOW
+
+#else
+  #error "No board defined! Please set a board environment in platformio.ini."
+#endif
 
 // ─── Stepper constants ────────────────────────────────────────────
 #define STEPS_PER_REV 4096
diff --git a/wiring_diagram.md b/wiring_diagram.md
index e3ce6c0..300ec60 100644
--- a/wiring_diagram.md
+++ b/wiring_diagram.md
@@ -61,6 +61,24 @@ The system is powered by a 4S LiPo battery. To protect the battery from over-dis
 ## Stepper to Driver Connections
 Simply plug the white 5-pin JST connectors from the 28BYJ-48 motors into the corresponding white sockets on their respective ULN2003 driver boards. The connector is keyed and only fits one way.
 
+---
+
+## Alternative Board Pinouts
+
+The project supports multiple ESP32 variants. The main tables above show the default ESP32-C3 Super Mini. If you are using a different board, follow these logic connections:
+
+### ESP32-S3 (e.g. DevKitC)
+| Motor | IN1 | IN2 | IN3 | IN4 |
+| :--- | :--- | :--- | :--- | :--- |
+| **Motor 1 (Right)** | GPIO 4 | GPIO 5 | GPIO 6 | GPIO 7 |
+| **Motor 2 (Left)** | GPIO 15 | GPIO 16 | GPIO 17 | GPIO 18 |
+
+### ESP32-WROOM (e.g. NodeMCU / DevKit V1)
+| Motor | IN1 | IN2 | IN3 | IN4 |
+| :--- | :--- | :--- | :--- | :--- |
+| **Motor 1 (Right)** | GPIO 13 | GPIO 14 | GPIO 27 | GPIO 26 |
+| **Motor 2 (Left)** | GPIO 25 | GPIO 33 | GPIO 32 | GPIO 23 |
+
 ## Schematic Overview
 
 ```mermaid