Elena parts list¶
Base robot platform¶
Elena is based on an OSOYOO omni-directional Mecanum-wheel robot car. Two OSOYOO kits can be used as the starting platform, but each has drawbacks for this build.
Option 1 — OSOYOO Arduino Mecanum-wheel kit¶
OSOYOO Omni-Directional Mecanum Wheel Robot Car Kit for Arduino STEM Coding Platform
- This is a two-tier chassis, while Elena is planned as a three-tier robot. Additional support pillars and platform boards must be purchased.
- It includes four motors with encoders.
- The kit costs approximately $109.
- This is the kit Elena's current design is based on.
Option 2 — OSOYOO FlexiRover Raspberry Pi kit¶
- This kit includes the three chassis tiers planned for Elena.
- It includes two 18650 battery boxes.
- Only two of its 520 motors have encoders; the other two are standard DC motors.
- Elena's design and motor controller can use four DC encoder motors. Two additional encoder motors would therefore be required.
- Additional encoder motors cost approximately $29.95 each, and the kit costs approximately $119.
Platform decision¶
For Elena's requirements, Option 1 is the less expensive starting point, even though additional support pillars and platform boards are needed to create the third tier. Its inclusion of four encoder motors makes it a better match for the planned drive train.
Component inventory¶
Note: This list is for the most part complete but is missing some parts, such as pillars and cabling, etc..¶
| Part | Qty. | Subsystem | Status | Comments |
|---|---|---|---|---|
| Raspberry Pi Pico 2 W | 1 | Nolena | In use | Controls motors, sensors, infrared input, and Wi-Fi communication with Mother. |
| Waveshare RP2040-Plus, 16 MB | 1 | Melissa | In use | Controls the E-Ink display and communicates with Nolena over UART. |
| Yahboom 4-Channel Encoder Motor Drive Module | 1 | Motors | In use | Controls Elena's four motors over I²C. Uses the separate motor battery. |
| GS2678 DC-DC buck converter | 1 | Power | Planned | Converts the electronics battery output to regulated 5 V for both Nolena and Melissa. |
| 18650 lithium-ion cells | 4 | Power | Planned | Two cells for the motor pack and two cells for the electronics pack. |
| 2-cell 18650 battery holder with switch | 2 | Power | Planned | One holder for motor power and one for controller/sensor power. |
| Waveshare E-Ink display | 1 | Display | In use | Driven by Melissa. Record the exact display model and supported supply voltage. |
| Adafruit 9-DOF Orientation IMU Fusion Breakout - BNO085 | — | Sensors | Planned | 9 DOF use to keep the system on course |
| Infrared receiver | 4 | Sensors | In use | Connected to Nolena for remote-control input. |
| Encoder motors | 4 | Motors | In use | Driven by the Yahboom motor controller. |
| OSOYOO Breakout Board for Raspberry Pi Pico | 2 | Development Board | In use | Board used in development, it comes in handy with a 5V input power supply |
| Adafruit Terminal PiCowbell for Pico | 2 | Production Board | In use | Board used in production to mount MCU's |
| Analog Feedback Micro Servo - Metal Gear | 2 | Micro Servo | Planned | Use to control Time of Flight Distance Sensor |
| Unassembled Mini Pan-Tilt Kit | 2 | Time of Flight mount | Planned | Use to mount time of flight sensor |
| Adafruit VL53L4CX Time of Flight Distance Sensor | 2 | Time of Flight sensor | Planned | Time of flight sensor |
| INA219 High Side DC Current Sensor Breakout | 2 | Voltage and Current Sensor | in use | Used to monitor battery levels |
| Raspberry Pi Debug Probe Kit for Pico and RP2040 | 1 | Raspberry Pi Pic/2040 Debugger | in use | Used to trouble shoot firmeware |