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Description

The OSOYOO FlexiRover Robot Car Kit is a high-performance, versatile platform designed for Raspberry Pi enthusiasts (ages 15 and above) with a background in robotics assembly and programming. This kit is compatible with Raspberry Pi 2, 3, 4, and the latest Raspberry Pi 5. It provides a robust foundation for building custom robots, focusing on flexibility, durability, and innovation. The kit includes a powerful motor system, versatile expansion capabilities, and a high-load capacity, making it suitable for advanced robotic development. Note that the Raspberry Pi board is not included, but the kit provides necessary components to create a functional robot chassis. It comes with powerful motors, Mecanum wheels, and customizable chassis make it a valuable platform for a wide range of applications. Designed with developers in mind, this kit empowers users to explore, innovate, and bring their robotic ideas to reality. Whether for education, research, or personal projects, the FlexiRover is an ideal choice for building high-performance robots.

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Key Features:

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Specification

No. Picture Device Qty. Specification Buy in Link
1 Raspberry pi board 2/3/4
(not in package)		 1
2 OSOYOO PWM HAT 1 Visit here to learn more Click here to buy
3 OSOYOO model Y motor driver module 1 Visit here to learn more Click here to buy
4 Voltage meter 1 Visit here to learn more Click here to buy
5 3in1 power adapter 1 Visit here to learn more Click here to buy
6 520 motor with encode 2 Datasheet Click here to buy
7 520 motor with cable 2 Datasheet Click here to buy
8 Mecanum Wheels 4 Datasheet Click here to buy
9 37mm metal motor holder 4
  • Fit for : 37mm Geared Motor;
  • Bracket Size: 48 x 42 x 40mm;
  • Ellipse Hole Size: 27 x 13mm ;
  • Diameter of Bracket Mounting Hole : 3.5mm
  • Outline drawing
  • Model No.: 2018003600
 Click here to buy
10 1st layer car chassis 1 Click here to buy
11 2nd layer car chassis 1 Click here to buy
12 3rd layer car chassis 1 Click here to buy
13 Jumper wire for encode 2
  • Length: 25cm
  • Standard 2.54mm Pitch
  • female to femal, 6Pin to 6Pin
  • Customised for OSOYOO 520 motor encode to rapberry pi board
  • Model No.: 2024006000
 Click here to buy
14 6pin female to 6pin female jumper wire 2
  • Length: 25cm
  • Standard 2.54mm Pitch
  • One end 6pins XH2.54 female connector，the other end 6pins 2.54mm Pitch male pin
  • Customised for connecting OSOYOO motor driver boards to Raspberry Pi board
  • Model No.: 2020003300
 Click here to buy
15 3pin female to 3pin female jumper wire 1
  • Length: 15cm
  • Standard 2.54mm Pitch
  • 3pins XH2.54 female connector to 3pins XH2.54 female connector
  • color: black-red-red
  • Customised for connecting OSOYOO voltage meter to OSOYOO motor driver boards
  • Model No.: 2018002400
 Click here to buy
16 OSOYOO 2pin PnP cable 20 cm 1
  • Length: 20cm
  • 2pin JST XH2.54 Female connector to 2pin JST XH2.54 Female connector
  • Customised for connecting OSOYOO WIFI connector to OSOYOO motor driver boards
  • Model No.: 2019016300
 Click here to buy
17 Male to female jumper wire 1
  • Male to Female jumper wires
  • Cable length: 20cm (7.9 inch)
  • 2.54mm Pitch 1Pin-1Pin Dupont Housing Connector
  • Separable multicolored (10 colors) softness jumper cables
  • Model No.: 2019011100
 Click here to buy
18 Female to female jumper wire 1
  • Female to Female jumper wires
  • Cable length: 20cm (7.9 inch)
  • 2.54mm Pitch 1Pin-1Pin Dupont Housing Connector
  • Separable multicolored (10 colors) softness jumper cables
  • Model No.: EACW100500
 Click here to buy
19 18650 battery box 2
  • For 3.7V 18650 batteries
  • 2 slots Battery Holder with cover
  • With on/off switch
  • 2pin JST XH2.54 female connector
  • Size: about 92*43*22mm
  • Cable length: about 150mm
  • Model No.: 2018001700
 Click here to buy
20 Battery charger for 18650 battery
(Optional)		 1
  • Micro USB Input Universal batterycharger
  • Charging Bays: 2
  • Input Voltage: DC 5V
  • Output Voltage: 4.2V/500mah
  • Size: 92x42x30 mm
  • Weight: 33g
  • Type C USB Cable length: 500mm
  • With LED indcators
  • Compatible: for 18650, 16340, 26650, AA, AAA.(the battery lenght between 30~68mm)
  • Built-in Protection: Short-circuit, Reverse Polarity, Bad Cell Detection, Safety Timer.
  • Model No.: 2019006900
 Click here to buy
21 18650 batteries (Optional) 1
  • Capacity: 2000mAh(±3%).
  • Voltage: 3.7V
  • Size: 18x67mm
  • weight: 45g/pc
  • Model No.: 2019006800
 Click here to buy
22 Screws package 1
  • Including: 1pc slot screwdriver, 1pc hex wrench, 60pcs M3*8 screws, 12 set M2.5 plastic screws+pillars+nuts, 4pcs M3*65+6 copper pillars, 10pcs M3*40 copper pillars, 30pcs M3*10 screws+nuts, 4pcs M2.5*20 screws, 4pcs motor coupling
  • Model No.: 2024006100
 Click here to buy

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Extremely Expandable Chassis

Color

Name

Compatible with
Blue circle (reference the following picture)
  • 37mm Metal motor holder —— Compatible with JGB37-550/545/520.. Super High Torque Motor
  • 25mm Metal motor holder —— Compatible with JGB25-370/310… High Torque Motor
  • TT metal motor Holder —— TT motor
Red Circle (reference the following picture) For OSOYOO Model Y motor driver/ OSOYOO Model X motor driver/ L298N motor driver
Green Circle (reference the following picture) For SG90/MG995/MG996 servo motor
Yellow Circle (reference the following picture) For 18650 battery case / 9V Battery case…
Pink purple Circle (reference the following picture) For Line tracking sensor / OSOYOO 5 channel tracking sensor / IR obstacle / IR receiver/ IR transmitter …
Purple Circle (reference the following picture)
  • For Arduino UNO R3 / Arduino UNO R4 / Arduino UNO WIFI …
  • For Arduino Mega2560 / Arduino DUE
Dark blue Circle (reference the following picture) For Raspberry Pi 5/4/3B/3A+/3B+/2B

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Package List

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Hardware installation

Install devices

Step 1. Install 4pcs M2.5 plastic pillars on 1st layer car chassis(metal) firstly as following pictures,. (Note: This four pillars are for OSOYOO Model Y motor driver, as it is too heavy to install the pillars if you install the motor firstly):

Step 2. Flip the 1st layer car chassis and install the gear motor holders with M3*10 screws and M3 nuts as following pictures.

Step 3. Install 2pcs 520 gear motors with cable on gear motor holders which stand at the front of chassis and 2pcs 520 motor with encode on gear motor holders which stand at the back of chassis with M3*8 screws.

Note: Please keep 4 axis of motors at the same level


Step 4. Install the jack screws on Al-alloy coupling, please tighten jack screws to fix the Al-alloy coupling on motor as following pictures.
Note: The axis of 520 gear motor has a plain side. Make sure that one of jackscrews is positioned at this flat, and tighten both jackscrews on the axis.

Step 5. Install the 4 Mecanum wheels on al-alloy coupling with 4pcs M2.5*20 as following pictures:

Note: There are two types of Mecanum wheels, left and right Mecanum wheel; the difference between them is the orientation of rollers. 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 6. Fix OSOYOO Model Y motor driver module on 1st layer car chassis with M2.5 plastic screws as following pictures:

Step 7. Install 4pcs M2.5 plastic pillars and nuts on 2nd layer car chassis (Acrylic) and then fix 3 in 1 power adapter, voltage meter with M2.5 plastic screws as following pictures:

Step 8. Install 2pc battery box on 2nd layer car chassis with 4pcs M3x10 screws and nuts as following pictures.

Step 9. Install 2pcs M2.5 plastic pillars and nuts on 2nd layer car chassis (Acrylic) as following:

Step 10. Use M2.5 plastic pillar cross Raspberry Pi and M2.5*12 plastic pillar from bottom to top as follow:

Step 11. Install 2pcs M2.5 plastic screws under the chassis and 2pcs M2.5 plastic screws on Raspberry Pi as following:

Step 12. Insert OSOYOO PWM Hat on Raspberry Pi as follow:

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Connections

1. Connect 4 motors to model Y driver board as the following pictures.

2. Connect M_A ENA, ENB of model Y to PWM2, PWM3 of OSOYOO PWM hat, and M_A IN1, IN2, IN3, IN4 to Pin40(GPIO21), Pin38(GPIO20), Pin36(GPIO16), Pin 32(GPIO12).

Connect M_B ENA, ENB of model Y to PWM0, PWM1 of OSOYOO PWM hat, and M_B IN1, IN2, IN3, IN4 to Pin16(GPIO23), Pin18(GPIO24), Pin13(GPIO27), Pin 15(GPIO22).

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.

3. Connect voltage meter to model Y motor driver board with 3pin female to 3pin female jumper wire; connect V_OUT socket of OSOYOO PWM hat to VIN socket of Model Y motor driver board with 2pin to 2pin jumper wire (female to female):

4. Insert 2pin plugs of battery case into 3in1 power adapter; insert 2pin plug of 3in1 power adapter into V_IN socket of OSOYOO PWM hat as following:

Note: 3in1 power adapter is for multi battery case with the same voltage.

5. Install 2nd layer car chassis on 1st layer car chassis with M3*40 pillars. Please note the front and back of acrylic chassis and metal chassis. The robot car can work when completing this step

6. If you want to add more sensor, you can install 3rd layer car chassis on the robot car.  Tightly screw M3*40 copper pillar with M3*65+6 copper pillar to be long pillar firstly, then Install 3rd layer car chassis on 1st layer car chassis with these long pillars

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Installation OS with Raspberry Pi imager

Note: here we take Raspberry Pi imager v1.7.2 as example to install OS, and other version may have some differences.

Step 1: Prepare a newly formatted micro SD memory card(TF card) with USB micro SD card reader, recommend sizes are 16G, 32G.  (skip this step if your SD card has pre-installed Rasbian OS Image).

Step 2): Download the Raspberry Pi Imager from Raspberry Pi official website: https://www.raspberrypi.com/software/

Step 3): If you don’t know how to format micro SD card, please run Raspberry Pi Imager and select “Erase” in Operating System field, and “your micro SD card” in Storage field, then click “WRITE” to format micro SD card

Step 4): Run Raspberry Pi Imager, then select “Use custom” in Operating System field then browse “Raspberry Pi OS” you have downloaded, then select “your SD card” in Storage field. (If you have burnt Raspberry Pi OS in your SD card, please skip step 3 to step 5)

Step 5): Click “setting icon” to enable SSH, set username and password (here we use pi as username and raspberry as password), and configure wireless LAN. Then click “SAVE”

Step 6): Click WRITE to burn OS system (Raspberry Pi OS) in your micro SD card

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Control Raspberry Pi remotely

Step 1: Know the IP address

1. Connect Raspberry Pi to your HDMI monitor or TV. Put a keyboard and mouse into Raspberry Pi USB ports. Insert SD card which has installed OS into the slot on your Raspberry Pi (if you have intalled your raspberry pi robot car, please connect this Raspberry Pi with screen and know the IP address).

2. If you move over the Lan icon, and get the notice as following:

3. Please click configure the WIFI localisation as following:

4. Find out the IP address of the RPi.
Method A: Connect your Pi to monitor and mouse, click LAN or WIFI icon to get the IP address as following photo

Method B: Click the icon of Terminal on the screen，enter the following command in terminal window to get your IP address :

hostname -I

Step 2: Use ssh tool to control Raspberry Pi remotely

Note:
1) To learn more about how to use ssh tool to control Raspberry Pi remotely, Please visit the link: https://osoyoo.com/2017/06/20/raspberry-pi-3-basic-tutorial/#7
2) In our sample lessons, we use Windows PC as the remote console device and PuTTY as the ssh tool

1. Please insert SD card which have installed OS into Raspberry Pi board (Attention please: you need to power off the rapsberry pi firstly), and then power on robot car.

2. Download PuTTY from: https://www.chiark.greenend.org.uk/~sgtatham/putty/ and install this exe. in your Windows PC

3. Open PuTTY and click Session on the left tree-alike structure (generally it’s collapsed upon PuTTY startup):

4. Enter the IP address you got into the textbox under Host Name (or IP address) and 22 under Port (by default it is 22) ,then click open.

5. Note that when you first log in to the Raspberry Pi with the IP address, you’ll be prompted with a security reminder. Just click Yes. When the PuTTY window prompts login as: type in the user name: pi, and password: raspberry (the default one, if you haven’t changed it).
Note: when you’re typing the password in, the window shows nothing just null, but you’re in fact is typing things in. So just focus on typing it right and press Enter. After you log in the RPi successfully, the window will display as follows:

Use ssh tool to control Raspberry Pi remotely on other OS PC, Please visit the link: https://osoyoo.com/2017/06/20/raspberry-pi-3-basic-tutorial/#7

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Sample project

Step 0: Please insert the SD card which has installed OS into Raspberry pi board and turn on your robot car firstly.

  1. If you don’t know how to install OS, please visit install OS with Raspberry Pi imager.
  2. If you don’t know how to control Raspberry Pi board remotely, please visit control Raspberry Pi remotely.

Step 1: Enable I2C

If you have not enable I2C, please run following command to enable I2C.

sudo raspi-config

Then select Interfacing Options->I2C->Yes->Ok->Finish

Step 2: If you don’t have rpi.gpio and adafruit-pca9685 library, use the following command to install the library.

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install rpi.gpio

Step 3: Install pca9685 and servokit library :
1) If you are using Bulleye OS, please run following commands:

sudo pip install adafruit-circuitpython-pca9685
sudo pip install adafruit-circuitpython-servokit

2) If you are using Bookworm system in Raspberry Pi 5, please run following commands:

sudo pip install  --break-system-packages adafruit-circuitpython-pca9685
sudo pip install  --break-system-packages adafruit-circuitpython-servokit

Step 4: Type following command to download the sample code.

wget https://osoyoo.com/driver/mecanum/mecanum.py

Step 5: Put the robot car on the ground and run following command:

python mecanum.py

After the above python is running, your motors will move forward for 0.75 seconds and then move backward for 0.75 seconds, turn left for 0.75 seconds and turn right for 0.75 seconds then shift to right , then shift to left , then do some omni direction move and stop.

Trouble shoting:
If you are running Bookworm OS, when you run above picar-basic.py program, you might have an error message:

    GPIO.setup(IN1, GPIO.OUT)   
    ^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Cannot determine SOC peripheral base address

Above message means your rpi.gpio library does not match Bookworm OS, you need to re-install the rpi.gpio library for Pi 5, please run following command:

sudo apt remove python3-rpi.gpio
sudo pip install  --break-system-packages rpi-lgpio

After re-install GPIO library, run command python mecanum.py again, the car will move accordingly.

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Related Sample Project

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