Differential Drive Robot

This project provides software for controlling a robot with a differential drive.
It supports teleoperation and go-to-goal behavior, making it suitable for educational robotics applications.

Repository structure

.
├── lib
│   ├── AS5600
│   ├── Encoder
│   ├── InitData
│   ├── Motor
│   ├── PID
│   ├── Position
│   ├── TwoWheeledRobot
│   └── Velocity
├── scripts
│   ├── SocketClient.py
│   └── SocketServer.py
└── src
    └── main.cpp

Hardware components

The robot includes the following components:

Component	Description
Raspberry pi 4 8gb	Single-board computer
Arduino Mega 2560	Microcontroller board
TB6612FNG	Motor driver
AS5600	Hall-Effect magnetic encoder
CJMCU-9548	I2C Multiplexer
XL4015 5A	DC/DC converter
4S 40A 18650	BMS Protection Board with balance
NCR18650B	Rechargeable Li-ion Batteries

Prerequisites

• AS5600
  This code uses a third party library AS5600 licensed under the MIT License.

• PlatformIO

  For more convenient work with the microcontroller board Arduino Mega 2560 PlatformIO is used.
  It provides a cross-platform build system, library manager, and integrated development environment (IDE) support

  You can download PlatformIO Core separately OR use the Visual Studio Code IDE Extension.

  Note
  You don't need to install PlatformIO Core separately if you're using the PlatformIO IDE.
  The IDE already includes PlatformIO Core, and you can access it directly through the PlatformIO IDE Terminal.

Installation

Clone the repository:

git clone https://github.com/AZhed/differential-drive-robot.git &&
cd differential-drive-robot

Usage

Connect remotely to Raspberry Pi using SSH.

Remote control

Remote control requires that the Raspberry Pi and PC are connected to the same Wi-Fi network.

1. Find out the IP address of Raspberry Pi.
   This can be done with the following command:

ip address show

2. Check local IP address: inet <IP-adress>
   This IP address must be specified in the scripts SocketServer.py and SocketClient.py as a HOST variable.

3. Start the Server on Raspberry Pi:

python3 scripts/SocketServer.py

4. Start the Client on PC:

python3 scripts/SocketClient.py

Use the following keys on your keyboard to control the robot:

Key	Command
w	Move forward
x	Move backward
a	Turn left
d	Turn right
s	Stop moving
e	Increase the speed
q	Decrease the speed
Ctrl+С	Terminate the Сlient or Server

License

This project is licensed under the MIT license.