Threebo, The Omni Wheel Robot

The robot is a simple Bluetooth controlled omni wheel robot. As of now the robot was only designed for forward, backward, left, right and rotate.

Hardware: Planetary Encoder DC geared motors, Bearing type aluminium omni wheel , HC-05 Bluetooth module , Arduino Uno, PID servo controller driver, Android Phone with App for controlling the robot.

Software: The android app connects to the Bluetooth module and sets the speeds and directions as characters like 'f' ,'l' ,'b', 'r', etc . The Bluetooth relays the data with the Arduino at 9600 baud rate using Software serial library. The Arduino then communicates with the PID servo drivers at 38400 Baud rate and the Servo controller controls the speeds of the motors with inbuilt PID based feedback. A separate control with no feedback was also attempted straight away controlling the motors with PWM outputs.