# EyeBot Omni-Directional Vehicles

The EyeBot controller drives 4 independent wheels on the omnidirectional robots Omni-1 and Omni-2. These robots use the "Mecanum" wheel design with free rollers on the wheel surface. Each robot can drive in any direction, i.e. forward/backward, sideways, at an angle, and turn on the spot. The robots are using the EyeBot controller with an add-on module with two additional drivers.

Omni-1 is the conventional Mecanum wheel design with the rollers held at the sides. This is a disadvantage when driving on non-smooth surfaces, because the
rims will make contact with the surface.
Omni-2 uses a new Mecanum wheel design where the rollers are held in the middle. This gives an advantage when driving on general surfaces, together with a suspension system that suspends every wheel individually.

Omni-2

- Vehicle and wheels were designed by
Andrew McCandless, Nathan Scott, and Thomas Bräunl
- Vehicle uses mechanum wheels with free rollers
- 4 driven wheels
- Video MPG Omni-2 driving fixed seq. (5 MB)
- Video MPG Omni-2 driving with remote control (5 MB)

Omni-1

- Vehicle and wheels were designed by
Gordon Menck, Richard Meager and Thomas Bräunl
- Vehicle uses mechanum wheels with free rollers
- 4 driven wheels
- Video MPG Omni driving fixed seq. 1 (3 MB)
- Video MPG Omni driving fixed seq. 2 (5 MB)
- Video MPG Omni driving with remote control (7 MB)

### 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
    ---------
    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