HardLabs

TriOmniwheel-Formation-Control

warrenbocphet·TriOmniwheel-Formation-Control·Omni_DC_PCB/Omni_DC.kicad_pcb

TriOmniwheel-Formation-Control PCB layout, top view — open source AVR/Arduino board by warrenbocphet

About the TriOmniwheel-Formation-Control PCB

TriOmniwheel-Formation-Control is an open source AVR/Arduino PCB design by warrenbocphet, published on GitHub. It is a 2-layer board measuring 87 × 101.6 mm, with 14 components from 14 distinct parts.

Its main chip is the Arduino_Due_Shield, from the AVR/Arduino family.

From the project

Autonomous Ground Vehicles Self-Guided Formation Control

Encoder: 64 resolution => 2797 count per rotation.

Control board: Arduino Due for controlling, Arduino MKR1000 for WiFi communication.

Real demo. Noticed how the position of the rovers and the feedback position is not entirely the same. Overtime, the system introduce more and more error. Since the system is self guidance, there's no correction during performance.

TriOmniwheel-Formation-Control, from the project README
From the project README

TriOmniwheel-Formation-Control bill of materials (BOM)

14 components, 14 distinct parts.

QtyPartRefs
1
MKR_1010
J1
1
Header_MKR_left
J2
1
Conn to Driver0
J3
1
Header_MKR_right
J4
1
Conn to Driver 1
J5
1
Motor_conn0
J6
1
Plus_minus 0
J7
1
12V input
J8
1
Polulu Voltage Regulator
J9
1
Motor_conn1
J13
1
Plus_minus 1
J14
1
Motor_conn2
J15
1
Plus_minus 2
J16
1
Arduino_Due_Shield
XA1

TriOmniwheel-Formation-Control design files

The KiCad project lives in the warrenbocphet/TriOmniwheel-Formation-Control repository on GitHub; these links point at the commit this page was built from.

TriOmniwheel-Formation-Control: common questions

What microcontroller does the TriOmniwheel-Formation-Control use?

The TriOmniwheel-Formation-Control is built around the Arduino_Due_Shield, from the AVR/Arduino family.

How big is the TriOmniwheel-Formation-Control PCB?

The TriOmniwheel-Formation-Control measures 87 × 101.6 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the TriOmniwheel-Formation-Control?

14 components, from 14 distinct parts. The full bill of materials is listed on this page.

Where can I download the TriOmniwheel-Formation-Control design files?

From the warrenbocphet/TriOmniwheel-Formation-Control repository on GitHub, which has the KiCad layout; the links under Design files point to each one.

Can I use the TriOmniwheel-Formation-Control design in my own project?

The repository has no license, so all rights stay with warrenbocphet. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the TriOmniwheel-Formation-Control without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug AVR/Arduino firmware against it before you order a PCB.

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