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Mechanical Components
- ZHAOWEI ZWPD024024-36-H geared motors 135rpm (3..12V, max. 0.28A, 5.88cNm, 36:1, 4x8mm axis, 24.5x70mm)
- 60mm mecanum wheels
- aluminum beam chassis, see Tinkercad design
- SG90 servos, 23x12,2x29mm, 1,5kg/cm, speed: 0,3 Sekunde / 60 Grad, 4,2 - 6V (>100mA)
Electronic Components
- Raspberry Pi 3
- Adafruit DC motor/stepper HAT (16 channel I2C PWM controller PCA9685; 4 H-Bridges TB6612 1.2A per bridge)
- Power Supply
- Optical Flow Odometer
Software Components
Parts Information
- Ultraschall HC-SR04 / HC-SR04P / HY-SRF05 / US-015 / US-016
- JLX1602G-390 1602 LCD with I2C
Setup
I2C bus devices
Adr | device |
---|---|
0x1E | HMC5883L (compass) |
0x3C | SH1106 OLED display |
0x48 | ADS1115 A/D converter |
0x60 | Adafruit motor controller |
0x70 | Adafruit motor controller (broadcast adr) |
Updated