omni directional dead reckoning

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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 ...

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 but you can find the stripped down version that has just the robot code without the rc remote code here

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Re: omni directional dead reckoning

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

Excellent work.

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