Micro Wheeled legged Robot
a year ago
- #ESP32
- #DIY
- #robotics
- The robot is the smallest two-wheeled-leg robot.
- Includes model files ('OriginalRobotModel.stp') and parts folders for manufacturing and purchasing.
- Four PCBs need fabrication; main control board uses ESP32 with L6234PD013TR motor driver.
- Encoder chip AS5600 and IMU MPU6050 communicate via I2C.
- Servo debugging board unifies serial lines using time-division multiplexing.
- Requires GH1.25 4PIN cables (15cm recommended).
- Arduino IDE-based; brushless motor drive uses simpleFOC.
- WiFi modes: AP (hotspot) and STA (client).
- Power on via XH2.54 plug; initialization includes FOC motor setup.
- Web interface at 192.168.1.11 for remote control (compatible with multiple OS).