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4 wheeled Holonomic drive

4 wheeled Holonomic drive

It is a 4 wheeled Holonomic drive capable of omni-directional movement. The drive is semi-autonomous and can be controlled via a PS4 controller, or programmed to run autonomously. The sensors include advanced line following sensor LSA08, Ultrasonic Distance Sensors HC-SR04 and optical encoders for linear distance feedback. 4 Banebot RS770 DC motors are used to drive the four mecanum holonomic wheels and sabertooth motor driver are used for the control. Arduino Mega ADK is the micro controller used.
The drive is attached with a shagai (a curvi linear large object) throwing mechanism. A ramp descends from the bot, picks up the “Shagai” and is capable of throwing it up to 2 meters.