Robot Tour

Multiple robots capable of traversing through an obstacle course with millimeter precision.

Clinton

Simple differential drive

• ESP32 MCU, DRV8874 Motor Driver
• Pure Pursuit implementation

Robert

Simple stepper motor design, first custom PCB & machined chassis

• ESP32 MCU, BMI270 IMU, TMC2209 & A4988 Motor Driver
• SD Card input for path programming, OLED Display

Beter

More complex stepper motor design

• ESP32 MCU, TMC2209 Motor Driver, BMI270 IMU
• Quadature Encoder + OLED for user interface
• All-in-one PCB board
  • Same board used on two different chassis
• Dual IMU integration

Beter PCB

Robert PCB

Iterative Design of Robert

Iterative Design of Clinton