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Hardware Documentation

Table of Contents

1. Introduction
2. System Overview
3. Components
4. Schematics & Diagrams
5. Assembly Instructions

Introduction

Welcome to the wiki page for the course in DVA490. This years iteration of the project focused on developing an omnidirectional robot. This wiki page will serve as documentation for our robot, the hardware used and how it is assembled streamlining the integration for future improvements of the compoenents. The robot consist of 4 omnidirectional wheels, 4 BLDC motors and 1 BLDC motor for the dribbler, a kicker and a mainboard for powering the electronics.

System Overview

The heart of the robot is the NUCLEO-H723ZG, it controls the data sampled from the sensors, calculate the kinematics and much more through a middleware called micro-ROS.

Schematics & Diagrams

Include diagrams for electrical circuits, mechanical layout, and connectivity.

Assembly Instructions

The assembly section describes how to assemble the components. The assembly instructions for the wheels, Dribbler and Kicker can be found in the sidebar.