Mecanum omni-wheels are a powerful technology that enables a robot car to move in any direction, including lateral movement to the left and right.
In this project, we will demonstrate how to use Arduino to control an Osoyoo brand robot car equipped with Mecanum omni-wheels.
OSOYOO Mecanum Wheels Robotic Car Chassis x 1 (2xleft-wheels/2xright-wheels and Motor x 4)
OSOYOO Mega2560 board, fully compatible with Arduino
OSOYOO V1.3 Wi-Fi Shield x 1
OSOYOO Model Y motor driver x 1
OSOYOO Voltage meter x1
OSOYOO Battery box x 1
OSOYOO 3pin female to female jumper wire x1
OSOYOO 6pin male to female jumper wire x2
OSOYOO 2 pin XH.25 female to female x1
18650 batteries (3.7V) x 2
Specifications:
Step1. Install the metal holder on metal chassis with 16pcs M3.5*12 screws, M3.5 rubber rings and M3.5 nuts as following pictures.
Step2. Installing 8pcs M3*6 screws as per the following red box.
Step3. Install the jack screws on Al-alloy coupling, please tighten jack screws to fix the Al-alloy coupling on motor as following pictures.
The shaft from the motor has a flat area on it. Make sure that the jack screw was positioned on this flat, and tightened both screws on the shaft as following pictures.
Step4. Install the 4 Mecanum wheels on al-alloy coupling with 4pcs M2.5*10 as following pictures.
There are two types of Mecanum wheels, left and right Mecanum wheel; the difference between them is the orientation of rollers. For A Mecanum wheel, as shown below, rollers are orientated from lower right to upper left. Rollers for B wheels are installed in the opposite way.
A correct configuration requires each of four wheels is set in the way as shown below, where the rotation axis of each wheel’s top roller points to the center of the platform. Please notice that all the dynamic analysis and pre-written codes are based on this configuration.
Step 5. Install 2pcs M3x40 copper pillars with 2pcs M3 screws and 2pcs M3.5 rubber rings on tracking sensor as following pictures.
Step6. We will add a 5-Point tracking sensor module to the car chassis with M3 nuts as the following pictures.
Step7. Install 12pcs M3 plastic pillars and nuts on acrylic board as following pictures.
Step8. Install 1pcs OSOYOO Mega2560 board, 1pcs model Y motor driver board and 1pcs voltage meter on acrylic chassis with the 8pcs M3 plastic screws as following pictures.
Step9. Install battery box with 4pcs M3x10 screws and nuts as following pictures.
Step10.Install SG90 servo on the acrylic chassis with 2pcs M2.2*8 self-tapping screws
as following pictures.
Step11. Remove the red jumper cap from Wi-Fi shield and insert OSOYOO Wi-Fi shield into Arduino Mega2560 board as the following pictures.
Step12.Install the acrylic chassis on metal chassis.Please note the front and back of acrylic chassis and metal chassis.
Before connect wires, make sure you have inserted OSOYOO Wi-Fi Shield onto MEGA2560 board already.
Step13. Connect 4 motors to model Y driver board as per the following pictures.
Step14.
Model Y board M_A IN1,IN2,IN3,IN4 pin connect to D5,D6,D7,D8.
Model Y board M_B IN1,IN2,IN3,IN4 pin connect to D22,D24,D26,D28.
M_A ENA, ENB pin connect to D11,D12.
M_B ENA, ENB pin connect to D9, D10.
Caution:
When insert/remove the 6-pin parallel cable plug into Model Y 6-pin male socket, please hold the white plastic pin-holder to do operation. Never drag the wires to pull the plug out of the socket, otherwise it will damage the wires.
Step 15:
Connect the voltage meter to model Y motor driver board with 3pin female to female cable as following picture.
Connect model Y motor driver board to Wi-Fi shield with 2pin XH2.54 female cable.
Connect 18650 battery box to model Y motor driver board as following picture.
Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please skip this step). Download Arduino IDE from https://www.arduino.cc/en/Main/Software?setlang=en, then install the software.
Step 3: Connect Mega2560 board to PC with USB cable, Open Arduino IDE → click file → click Open → choose code “lesson1.ino” in lesson1 folder, load the code into Arduino.
Step 4: Choose corresponding board/port for your project, upload the sketch to the board.
Disconnect Arduino from PC, put battery into battery box. When you put the car on the ground, turn on the switch on OSOYOO Uart Wi-Fi shield and the switch on battery box.
After running Lesson 1 code, the car will move
Forward→Backward→Left turn→Right turn→
Right Parallel Shift→Left Parallel Shift→
Up Right Diagonal→Down Left Diagonal→
Up Left Diagonal → Down Right Diagonal
