Overview:

This project uses three omniwheels to move around an elevated surface, such as a table, while avoiding cliffs using proximity sensors.

Description:

This project arranges 3 omni-wheels in a triangular pattern (akin to a Dorito) and drives them with continuous rotation servos to freely navigate in any direction and rotation. Its ESP32 is programmed to autonomously navigate around the area at slow speeds, and uses 6 IR proximity sensors to detect and avoid cliffs, allowing it to serve snacks to people across the table.

Features:

• ESP32S2 microcontroller

• 3.25" omni wheels

• IR proximity sensors to avoid obstacles

• Triangular platform for carrying objects

• AA battery power delivery with waterproof casing

• PCB Status LED Control