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Robot Omni 3 Wheels RTOS

Project Title

Vectoring code for a three wheel omni chassis written for Arduino Microcontroller.

DC Motor Speed Control

Motor speed control using encoders. Encoder are connected to the hardware interrupt of the microcontroller(Arduino Mega). A timer using the timming interrupt service routine is used to measure the motor rotation speed. System Identification is performed to approximate the DC motors as 2nd order system. PID controller is implemented for speed control.

Vectoring

X and Y vector (or Magnitude, Theta) are transformed to the three motor RPMs.

High Level Control

1. Control via ESP8266 blynk app:

This functionality is added for the control of robot via ROS running your smart phone.

Video demo

Video Demo

Contact us if you have any problem

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