On the built robot, the motor wires were soldered swapped relative to schematic 4.3, and the team decided not to resolder. The hardware test sketch already swapped sides by hand. The main firmware's BoardPins.hpp followed the schematic, so the Navigator would command a left turn and the robot would turn right. The fix is a build option, on by default for the ESP32-S3, that moves the left motor from pins 6/5 to 16/15 and swaps the encoders. Turn it off when a board built to the schematic shows up. The truth about the robot now lives in a Kconfig default. PR is in Portuguese.