I.Objective
II.Parts and Devices
III.Hardware Installation
IV.Software Installation
Sample project
VI.How to play

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Model 2021006600
Mecanum Omni direction wheel is a very interesting wheel which allows robot car make omni-directional movement( e.g.  parallel shift to left and right).

In this project, we will show how to use raspberry pi to control an OSOYOO Mecanum wheel robot car to make some basic movement including go forward, backward, left turn, right turn, parallel left shift, parallel right shift etc.

This lesson also guides you through assembling the car chassis and connecting the Raspberry Pi and OSOYOO PWM HAT to the OSOYOO Model Y board. This setup serves as the foundation for the following lessons.


OSOYOO Mecanum wheels robotic car chassis x1
OSOYOO Wheels and motors x4 (left-wheels x2/right-wheels x2)
Raspberry pi 4/5 board
OSOYOO PWM HAT shield x1
OSOYOO Model Y Motor driver board
OSOYOO Voltage meter x1
OSOYOO Battery box x1
OSOYOO 6pin female to female jumper wire x2
OSOYOO 3pin female to female jumper wire x1
OSOYOO 2 pin XH2.54 PnP female to female x1
18650 Batteries(3.7V) x2
Battery charger x1


Dimension

1)Attach the 4 motors using the metal motor holders as shown. (Please ensure the motor orientation is correct before installing the metal motor holders.)

2) Secure the 4 motors to the lower car chassis using M3*10 hex screws and a hex screwdriver, as shown in the image. (The screws required for this step are included in the metal motor holder package.)

3）Mount the OSOYOO Model Y driver board onto the lower car chassis using 4 M3 plastic screws, plastic pillars, and plastic nuts (It is recommended to install the plastic pillar with the male end facing downward.) . Then, connect the 4 motors to the K1 and K3 sockets on the Model Y motor driver board, as shown in the diagram.
(Ensure the OSOYOO Model Y driver board is installed in the correct orientation.)

There are two installation modes for plastic pillars:
A. The male end of the plastic pillar faces downward.
B. The male end of the plastic pillar faces upward.

4)  Attach the tracking sensor module to the lower chassis using two M3 plastic screws, two M3 plastic pillars, and two M3 plastic nuts (It is recommended to install the plastic pillar with the male end facing upward). Ensure the sensor is securely fixed and properly aligned for accurate functionality.

5) Attach six M3*40 copper pillars to the lower chassis using six M3*10 screws and six M3 washers. Ensure the pillars are firmly fixed to provide stable support for the upper chassis.

Slide the washer onto the screw, a washer distributes screw pressure and improves stability when securing screws into metal pillars.

6) Install four the plastic pillar with the two male end facing upward and the two male end facing downward.

7) Secure the Rasberry Pi board to the upper chassis using two M2.5 plastic screws, two M2.5 plastic pillars.

Please install raspberry pi board at the side with arduino mega2560 printing.

8) Insert OSOYOO PWM HAT shield onto your raspberry pi board.

9)Use four M3*10 screws, M3 nuts and and M3 washers to attach the battery box to the designated markings on the upper chassis.

10) Attach the voltage meter to the designated markings on the lower chassis using two M3 plastic screws, two M3 plastic pillars, and two M3 plastic nuts. (It is recommended to install the plastic pillar with the male end facing upward.)

11)Using two M2.2*8 self-tapping screws, mount the servo motor at the front of the upper chassis.

12)Attach two IR distance sensors to the front of the upper chassis using two M3 plastic screws, M3 plastic pillars, and M3 plastic nuts. To secure the sensors tightly,It is recommended to install the plastic pillar with the male end facing upward

13)Mount two LED lights onto the front barrier plate as shown in the diagram.

14) Ensure all necessary circuit connections are completed before assembling the upper and lower chassis.

15）Connect OSOYOO model Y board to OSOYOO PWM hat shield with 2pcs 6pin female to female jumper wires as follows. The 6-pin wires in Area B need to go through the hole near SG90 servo, the other 6-pin  wires in Area A need to go through the hole near voltage meter.

Caution:
When insert/remove this 6-pin plug into Model Y 6-pin male socket, please hold the plastic pin-holder to do operation. Never drag the wires to pull the plug out of the socket, otherwise it will damage the wires.

16)
Connect voltage meter to OSOYOO model Y board with 3pin female to female jumper wire as below connection diagram.

Connect OSOYOO model Y board 12V-GND socket to VIN-GND socket with OSOYOO 2pin PnP cable 20cm as per following graph.

Connect battery box to VIN-GND socket of OSOYOO Uart WiFi shield according below connection diagram.

17) Connect SG90 servo motor, OSOYOO model Y board and OSOYOO PWM hat as following diagram.

18)Install 2pcs LED Lights on the front transverse diaphragm as follows.
Connect the LED light to OSOYOO Uart WiFi shield as follows.

19）Connect GND-VCC pin of tracking sensor module to GND-5V of OSOYOO PWM hat shield ; connect IR1, IR2, IR3, IR4, IR5 pins to GPIO5, GPIO6, GPIO13, GPIO19, GPIO26 with 7pin 25cm female to female cable as the following photo shows.

20)Fix upper chassis to lower chassis with 6pcs M3*10 hex screws.

21)Install 4 wheels onto the motors with 4pcs M2.5X20 screws.

Note: there are two types and to arrange them so the rollers point toward center of car when viewed from above.

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.

Now the hardware installation is almost complete. Before installing the 18650 batteries into the box, we need to upload and run the sample code on the Raspberry Pi first. We will cover in detail how to upload and run the sample code on the Raspberry Pi in the next lesson.