EyeBot Omni-Directional Vehicle

The EyeBot controller drives 4 independent wheels on the omnidirectional robot Omni. It cat drive forward/backward, slide sideways and turn on the spot. Omni uses the "Mecanum" wheel design with free rollers on the wheel surface. It has been designed around the EyeBot controller.


Vehicle Specific Settings

TPU  0     front right motor speed
TPU  1     front left  motor speed
TPU  2-3   front left  shaft encoder
TPU  4-5   front right shaft encoder

TPU  6     back right motor speed
TPU  7     back left  motor speed
TPU  8-9   back right shaft encoder
TPU 10-11  back left  shaft encoder
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DO   0,1   front left  motor direction
DO   2,3   front right motor direction
DO   -,5   back  right motor direction
DO   6,-   back  left  motor direction

Thomas Bräunl, braunl@ee.uwa.edu.au