Expanding Holonomic Platform (Work in Progress)
This project documents the development of a modular, expanding holonomic platform. The goal is to create a robust, scalable robot base capable of omnidirectional movement, with a focus on open-source hardware and accessible electronics. The project is currently a work in progress, with ongoing mechanical, electrical, and software development.
Progress Gallery
CAD Renders
Step-by-Step Guide
For a detailed, step-by-step build guide—including wiring, code, and troubleshooting—check out the Instructables tutorial:
Read the Instructables GuideTechnical Details
- Microcontrollers: 2x ESP32 (Master & Slave, communicating via I2C)
- Motor Drivers: 4x L298N modules (each controls one DC motor)
- Motors: 4x DC motors with encoders (for closed-loop control)
- Power: Dedicated 12V rail for motor drivers, common ground for all electronics
- Programming: Arduino IDE, using
Wirelibrary for I2C andanalogWrite()for PWM - Control: Master ESP32 sends commands to Slave over I2C, each controls two motors
- Encoders: Integrated for future PID speed/position control
For full wiring diagrams, code examples, and troubleshooting tips, see the Instructables guide.
Future Work
- Integrate and tune PID control for precise motor speed and position
- Expand platform with additional sensors (IMU, distance, etc.)
- Develop a wireless control interface
- Release a full build log and video journey (coming soon!)
- Open-source all CAD and code files