Drive System:

This page address the drive system of the robot, essentially the base, and the motors that move our robot around.

Motors and Wheels

We used two caster on the back of the robot, with two wheels connected to DC motors at the front of the robot. The DC motor, and the wheels came as part of a set. This set is a Uxcell DC 12 V 220RPM Encoder Gear Motor with Mounting Brackets, with a 65mm Wheel. The two DC motors were then connected to an L298N driver, which was controlled by an Arduino Uno.

The button below takes you to the part on amazon.com.

DC Motor and Wheel Set

Caster Wheel

L298N driver

One of the motors seemed a bit stronger than the other so I had to change it's speed within the code.

The casters on the other hand, were shorter than the height to the bottom of the base, so I 3D printed a part to connect the two.

The caster that I bought can be reached with the button above, while a picture along with the homemade 3D printed caster spacer dimension drawing is below.

Circuit diagram:

This was changed later on, in accordance with the other systems, but at the time it looked a bit like this.