Advanced Robotics & Kinematics · Advanced

Differential Drive Mapping Robot

Encoder-equipped robot estimating pose while driving a marked route. Encoder-equipped robot estimating pose while driving a marked route.

Components

  • MCU
  • two motors
  • encoders
  • mapping/logging interface

Build steps

  1. Inventory the board, actuators, sensors, and power rails listed for R05.
  2. Build and inspect the low-voltage wiring against the supplied connection diagram before connecting actuators.
  3. Flash the firmware, run the startup self-check, and record the printed board and firmware version.
  4. Calibrate the sensors and limits, then run the acceptance tests at the lowest safe energy level.

Test and expected result

Calibrate wheel diameter and axle spacing, then compare estimated versus measured final pose.

Safety and limits

Use a clear indoor course and a manual stop.

Download Arduino source code

Download connection diagram SVG

Differential Drive Mapping Robot project illustration