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Basic Hardware connections
A set of Mecanum wheels with 4 TT motors
1 Raspberry Pi Pico 2W
2 L298N
~9v Lipo/NiMh battery or a battery box for 6 AA/AAA batteries (Do not use 9v battery)
~5v Lipo/NiMh battery or a battery box for 3 AA/AAA batteries
1 Breadboard
Many jumper lines and connectors
220 ohm resistors
LEDs
Push button
Switches
Assemble the frame, wheel and motors.
Connect the Pico 2W, L298N and motors following the diagram of the svg files in docs/ .
Remember to test each component before assembly.
Flash the firmware and upload main.py
Edit the main.py in Thonny or your favorite python editor, adjust the WiFi SSID and password.
Adjust the pin definitions in main.py
Press and hold the white button on the Pico 2W board while connecting it to your computer with a micro-USB cable.
Your Pico will appear as a USB drive. Copy the firmware and main.py to it.
Restart your Pico, or run main.py directly from Thonny.
Run Java control programs
Use your IDE, open the pom.xml
Compile and run
Use the combination of WASD for sliding, left/right arrows for rotations, and up/down for speed controls.
Install more sensors and program your own controllers!
Pico 2W runs 2 threads, one to handle TCP connections and the other for UDP via WiFi.
TCP simulates the sensors telemetry data bus, which reliably can be pulled and provides sensor data.
UDP simulates the fire-and-forget command bus, which is fast but not reliable.
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