omni directional dead reckoning

Showroom for MicroPython related hardware projects.
Target audience: Users wanting to show off their project!
Post Reply
OutoftheBOTS_
Posts: 791
Joined: Mon Nov 20, 2017 10:18 am

omni directional dead reckoning

Post by OutoftheBOTS_ » Sat Aug 15, 2020 10:25 am

I have build an omni directional robot that can move with 3 DOF (x linear, y linear and w rotation).

I do have another video (on my youtube channel) where I explain how I work out what speed to drive which motor to give me the desired x, y, w speeds.

I have now worked out how to keep an accurate dead reckoning based upon each step of the stepper motors for each wheel. see https://www.youtube.com/watch?v=PhydxVv ... e=youtu.be

I will later make a tutorial explaining how I did it. The project runs on a STM32F407. Unfortunately it wouldn't be possible to write the low level in python because of the speed needed to both generate the step pulse for 3 motors and calculate the needed dead reckoning. The code that was running on the robot during this video including the RC remote code is here https://github.com/OutOfTheBots/RC_omni_robot but you can find the stripped down version that has just the robot code without the rc remote code here https://github.com/OutOfTheBots/omni_bot

User avatar
russ_h
Posts: 23
Joined: Thu Oct 03, 2019 2:26 am

Re: omni directional dead reckoning

Post by russ_h » Sat Aug 15, 2020 5:02 pm

Excellent work.

Post Reply