Differential Drive Robot

Introduction

This project is designed to control a mobile differential drive robot.

Repository structure

lib

AS5600
Encoder
InitData
Motor
PID
Position
TwoWheeledRobot
Velocity

src

main.cp

scripts

SocketServer.py
SocketClient.py

All robot parameters and pin numbers are in the file lib/InitData/constants.h

Robot design

The robot includes the following devices and sensors:

• Single board computer Raspberry pi 4 8gb
• Hardware platform Arduino Mega 2560
• Motor driver TB6612FNG
• Hall-Effect Magnetic Encoder AS5600 x2
• I2C Multiplexer CJMCU-9548 (for encoders)

Below is the connection of all elements

Dependencies

PlatformioIO

This code works on Arduino Mega 2560 using PlatformioIO

You can download PlatformIO Core separately.

Or use the Visual Studio Code IDE Extension.

(Please note that you do not need to install PlatformIO Core if you are going to use PlatformIO IDE. PlatformIO Core is built into PlatformIO IDE and you will be able to use it within PlatformIO IDE Terminal.)

AS5600

This code uses a third party library AS5600 licensed under the GPL-3.0 License

Classes

Using

Clone the repository:

git clone https://github.com/industrial-robotics-lab/differential-drive-robot.git

Go to the project folder:

cd differential-drive-robot

For remote control, it is necessary that the robot (Raspberry Pi) and the PC have a connection to the same Wi-Fi network. You need to find out the IP address of the Raspberry Pi, this can be done with the following command:

ifconfig

(section wlan0: inet <IP-adress>)

This IP address must be specified in the scripts SocketServer.py and SocketClient.py (variable HOST).

Start the server on Raspberry Pi:

python3 scripts/SocketServer.py

Run the client on PC:

python3 scripts/SocketClient.py

Robot control

For control is used the keyboard of your PC:
w - forward
x - back
a - left turn
d - right turn
s - stop moving
e - increase the speed of rotation of the wheels
q - reduce the speed of rotation of the wheels
Ctrl+c - shutdown client and server

License

MIT