The controller for Doug, the omni-wheeled robot!
GIF of the robot in action!
See my MakerWorld design for more details!
Join my 3d desin discord and say hi and talk shop!
- Designed to be a universal toolbox of robotics control
- Works with different CanBus motors!
- All using the native ESP32 TWAI CanBus library
- Allows different motors on the same shared CAN bus. Right now:
- ODrive
- Xiaomi CyberGear motors
- Supports different radio protocols
- CRSF serial systems: ExpressLRS & Crossfire
- ESP-NOW for low-latency control without external hardware
- IMUs!
- Right now using the M5Stack IMU abstractions
- Uses a Madgwick filter for orientation estimation
- Fancy rotation matrix for on-end balancing
- LCD support using M5Stack library
- has system for tuning PID gains
- Clone the repo
- Open in PlatformIO
- Either from command-line or, recommended:
- VSCode. Install the PlatformIO extension and open the project
- Choose the target you want and just hit upload!