This is my rover test platform I am using to learn how to build and control robots. It uses a BasicMicro Roboclaw motor controller with an Arduino Mega receiving commands from a Teensy-powered transmitter. I 3D printed the drive wheels as well as adaptors for a pair of LiIon DeWALT tool battery packs to power the rover. Printed brackets hold the wheelchair motors and swivel caster to the chassis of the rover, which of course is just a 2×4.
The Arduino Mega and Roboclaw communicate over a packet serial connection allowing for drive commands to be sent as well as parameters such as motor amp-draw and board temperature to be read.
Wireless communication is handled by a pair of NRF24L01+PA+LNA modules. I am using the acknowledge payload functionality to return the drive parameters listed above from the rover to the transmitter.
The transmitter consists of a Teensy LC board with a simple joystick and TFT graphic display from Adafruit. Commands from the joystick are transmitted to the rover and drive parameters are displayed on the LCD.
Code for the Arduino Mega Rover Receiver is here:
https://github.com/akreager/roverTest
Code for the Teensy LC transmitter with acknowledge payload is here:
https://github.com/akreager/nRF24tests
CAD for the full assembly with links to the 3D printed parts and sub components is here:
https://cad.onshape.com/documents/239133669f4d5c1c58381066/w/fb9447f37f2155b3b90b8cee/e/71e3041a4af3a245cfc2c266
, https://i.ytimg.com/vi/KbPLMGB0IVk/hqdefault.jpg
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