The robot and its hardware#
A small differential-drive kit, upgraded piece by piece.
Part |
Role |
|---|---|
ESP32 |
Motor control loop, encoders, safety watchdog |
2 × 12 V DC motors + encoders |
Drive and wheel speed feedback |
Current and voltage sensor |
Battery level, stall and slip detection |
BNO055 IMU |
Heading and yaw rate |
2D LiDAR |
Mapping and localization |
Raspberry Pi |
ROS 2, Nav2, logging |