Research testing rover starting with Hadabot.

[devloos]

Documentation

Hadabot Base Kit

The Hadabot Base "Turtle" Kit includes:

• Main 2-level chassis platforms
• Wheels
• Geared motors (with wires pre-soldered)
• Rear caster
• Primary breadboard
• Two secondary breadboards
• Motor driver module
• ESP32 board
• All the screws, nuts, stand-offs, wires needed for assembly
• Docker container stack + open-source software to program the Hadabot Turtle

What you'll learn with the kit:

• ROS 2 fundamentals - nodes, topics, messages, launch files
• Fundamental robotics concepts
• How motors, motor controllers work
• How micro-controllers work
• Basic electronics and breadboarding concepts

Hadabot Add-On: Motor + Speed Encoder Sensors

The Hadabot High Torque Motor + Speed Encoder Sensors Add-On includes:

• Pair of upgraded high torque geared motors
• Integrated speed sensors
• Wiring harness for the motors
• Other integrated circuit chips, hardware, and wires

What you can learn with the add-on:

• Robot pose and odometry
• Kinematics
• Coordinate / transform frames
• How speed sensors work

Hadabot Add-On: Range Sensors

The Hadabot Range Sensors Add-On includes:

• A set of 5 range sensors
• Wiring harness for the sensors
• Bracket mounting hardware
• Other electronics components, wires, and hardware

What you can learn with the add-on:

• Localization
• SLAM
• How various types of range sensors work

Resources

• https://www.hadabot.com/purchase.html
• https://www.hadabot.com/build-hadabot.html
• https://www.hadabot.com/ros2-hadabot-teleop.html
• https://learn.sparkfun.com/tutorials/raspberry-gpio/all

[devloos]

Documentation

Servocity

Resources

• https://www.servocity.com/robot-chassis-kits/

[devloos]

Testing Rover Presentation

Requirements

• Clearance from ground to rover
• Motors with speed encoders
• 4-wheel drive
• Plenty of space with a lot of mounting places
• Tank steering

On The Rover

• Speed Encoders
• RPi
• Lidar
• Bread Boards
• Stereo Camera
• GPS

Summary

We've decided that getting a robust chassis with decent built-in equipment would be the most practical approach. This means we'd likely require just one testing rover. In terms of the chassis, our ideal features include ample ground clearance, motors equipped with speed encoders, 4-wheel drive, plenty of space with multiple mounting points, and tank-style steering. Additionally, it should have spots for mounting a Raspberry Pi, Lidar, Bread Boards, Stereo Camera, and GPS. Although we have a few options under consideration, our choice hasn't been finalized yet. We intend to present a formal proposal for the testing rover by XXXXXX. If you believe there are any other requirements that should be included for the testing rover, please feel free to share your thoughts with us.

[devloos]

Custom Lego Built Solution

After conducting extensive research, we were unable to find a prebuilt chassis that met our agreed-upon criteria, including requirements, pricing, and extendability. This led us to explore the option of using Lego components, inspired by Cam Wolf's successful DIY approach. Cameron discovered a company called Bricklink that provides Lego cladding software, making it easy to construct and maintain the rover. Some noteworthy features of Bricklink Studio include:

• Stability Analyzer
• Collision Detector
• Instruction Generator
• Capability to compile all parts into a CSV file
• Integration with Bricklink's website for easy part ordering based on your CAD design.

Building upon the requirements summary we discussed previously, we're currently engaged in constructing our Lego rover using Bricklink Studio. Below, we're sharing an initial glimpse into our design:

Requirements Covered

• Clearance from ground to rover
• Motors with speed encoders
• 4-wheel drive
• Plenty of space with a lot of mounting places

Action Items

• Get proof of concept for mounting RPi, Lidar, Bread Boards, Stereo Camera, and GPS.
• Motors currently do not power wheels since there is no gear connection
• Choose better technic arm plates to mount motors more easily
• Add an easily removable top not only to allow for mounting but to access inside
• Connect the center better to allow for stronger stability
• Find replacement pieces that are giving us "issues"
• Replace ball joints on suspension

Rover Specs

• Dimensions: 9.9 x 13.5 x 3.8 in
• Weight: 25.6oz
• Total parts: 292
• Estimated Price: $125

Reference Builds

• https://www.bricklink.com/r3/studio/design.page?idModel=257393
• https://www.bricklink.com/r3/studio/design.page?idModel=256336
• https://www.bricklink.com/r3/studio/design.page?idModel=142030
• https://www.bricklink.com/r3/studio/design.page?idModel=363585

[devloos]

Yellow Jacket Gear Motor (SKU: 5203-2402-0019): Spec Sheet Step File

[Supernova1114]

We put in a PO for:

• 2 Lego Spike edu packs.
• 2 Large angular motors.
• 1 2s lipo
• 1 2.1 mm barrel to female xt60
• Lego Pi buildhat.
• 2 lb technic bulk pack.
• 1 lipo alarm