simple-holonomics

Easily control your holonomic robot, or DC motors!

Hardwares used

For testing both DC motors and holonomic capabilties, we use.

• mBot | mCore board with its bluetooth gamepad
• ESP-WROOM32
• Smile PRIK KEE NU, DC motor controller with PWM capabilities
• 4 generic DC motors
• Step down | Buck controller. from nV -> 5V
• 30V LiFePO4 battery

You can use your own hardware for your own conveniences

• mBot | mCore & bluetooth gamepad -> UART compatible hardware with it's required packet
• Smile PRIK KEE NU -> Any DC motor controller
• 30V LifePO4 battery -> Whatever power source you have

Setup

This is the diagram

[Bluetooth gamepad] -> [mBot | mCore] <- uart -> [ESP-WROOM32]
-> [4x DC motor controller]

Where

• The mBot | mCore talks to ESP-WROOM32 through UART, with 15200 bits per second.
• The Bluetooth gamepad is connected to mBot | mCore through Bluetooth.
• Connect the battery to each of DC motor controllers and a step down converter.
• Connect the output of step down coonverter to ESP-WROOM32 voltage and ground pin respectively.
• The DC motor controller & ESP-WROOM32 have a common ground cable. (Otherwise the motors wont spin!)

UART serial communication

With our lack of bluetooth controllers. We have set up the perimeter of UART serial data by

• The UART are simplex method, where the transmitting side is shouting the data, without data correction.
• The baud rate is 15200 bits per second.
• The UART data consists of
  • [ int int int int int int ]
  • These UART data are hooked with mBot | mCore
  • Where all ints are within their 32 bit limits.
  • [ - - x x x -]
    • Where 1st X is for X axis.
    • Where 2nd X is for Y axis.
    • Where 3rd X is for rotation axis.
  • [ x x - - - - ]
    • These 2 X's are parity datas. You can customize both transmitting and recipient's end.
  • [ - - - - - x ]
    • This X has no use (for now...)
• The second UART data packet consists of
  • [ int int int ]
  • These UART data are hooked with the raspberry pi System, for computer vision systems
  • Where it can be transmitted via USB-TTL adapter or directly from GPIO pins
  • [ x x - ]
    • Where 1st X is the object's X coordinate.
    • Where 2nd X is the object's Y coordinate.
    • The motors will move through provided X and Y without rotating.
  • [ - - x ]
    • This X is for rotation, or object's velocity i cant remember.
    • This X ain't implemented yet.