Skip to content

Latest commit

 

History

History
45 lines (31 loc) · 1.5 KB

README.md

File metadata and controls

45 lines (31 loc) · 1.5 KB
Raw

holonomic

Holonomic driving with Infineon XMC micro controller and TLE94112 motor controller

What it is

This library drives a three motor holonomic platform, a rama killough, with omniwheels. This platform can drive in x/y direction or rotate directly on site.

Features

  • Initiates all three motors virtually placed at 30°,150° and 270°
  • runs motors by calculating the driving speed of each motor for the given angular
  • rotates the platform by driving all motors three motors in the same direction
  • controls the speed of the whole platform
  • coasts or stops the platform
  • is based on the Infineon TLE94112 motor controller library
  • runs best with Infineon XMC1100 or XMC4700 micro controller

Demo platform

A LEGO(R) based demo platform for a rama killough is available

Hardware needed

For this project you need at least the following parts:

  • an Infineon XMC micro controller like the XMC1100 or a XMC4700 and compatible
  • an Infineon TLE94112 DC motor controller
  • three Lego(R) EV3 or NXT motors
  • 6 Omniwheels with Lego(R) compatible hub
  • Lego lever and pins, batteries box etc. (see building plan)
  • a voltage regulator with 6-12V input and 5V output to power the XMC microc ontroller with the 9V batteries box
  • a Bluetooth or wifi connection for communication

Software needed

For the base robot software you need:

  • Infineon XMC Arduino port
  • the TLE94112 DC motor library
  • this library
  • optional Bluetooth or wifi software ports
  • optional Infineon Optiga Trust for secure communication