This repository houses the codebase for the 3 Wheel Drive System with Odometry. It serves as a comprehensive collection of resources including code, CAD models, calculations, and component datasheets. Our aim is to create a well-documented reference that will enable future teams to build upon our work.
- ✅ Good design (with proper deadwheels)
- ✅ Efficient movement capabilities
- ✅ Precise odometry
- ✅ Omnidrive with high-speed motors
Kinematics of the drive have been solved extensively, and odometry calculations are also available.
Both of these will be implemented.
The project timeline is divided into two halves:
A detailed breakup of these shall be discussed internally.
- Kinematics of 3 Wheeled Omnidrive
- Intro to Closed Loop Control for motor speed
- Odometry calculations
- Full Implementation paper By Davide Orrù
- Arduino IDE (C++)
- For further implementation, MATLAB or Python might be used.
- We follow the standard Git workflow for collaboration
- Suggestions for improvement are welcome via Issues or Discussions.