Description: This robot can move in any direction without turning, using the Crab drive motion. It is controlled with the attached controller joysticks with the left joystick for arcade movement relative to the heading, and the right joystick to control the heading.
Motivation: I did this project because I wanted a challenge, also because I am looking towards joining an FRC team for the first time next year, and I wanted to make a drivetrain inspired by some robots I saw there. This project ended up taking less time than I anticipated (mostly because I was putting in 7-8 hour days on it), but it was still very fun.
File Layout:
- CAD: contains the STEP files for the entire built, imports and all
- FIRMWARE: contains all the code put on the microcontrollers
- WIRING: Contains fritzing file, breadboard view and schematic view images, for both the controller and the car
- PRODUCTION: Contains the individual .3mf files which will be 3D printed
- JOURNALIMG: Where I store all the images I used for my journal
NOTE: The motors at the bottom of the design will get their power through wires from the motor drivers which are routed via the two big holes in each of the layers of design. Since to motors only move 90 degrees in either direction from their starting point in this design, the wires will never get tangled.
I have a lot of parts at home and 3D printing capabilities so this list is just what I don't have.
Total: $129.92 USD
With tax: $146.8096 USD
This is with Aliexpress First time shopper welcome sales, as I have never shopped there before. The previous total was ~$180. Good thing those exist so I could get under the limit..