Project 10 / Robotics · Work in Progress

Expanding Holonomic Platform

Open-Source Omnidirectional Robot Base

3D CAD Holonomic Drive ESP32 Industrial Automation Control Systems

Overview

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A modular, expanding holonomic platform built around open-source hardware and accessible electronics. The goal is a robot base that scales and moves omnidirectionally without custom silicon or proprietary parts. Mechanical, electrical, and software development are all still active.

Progress Gallery

02 / 05

Platform expanded on workbench — Expanded, on bench

Platform contracted on workbench — Contracted, on bench

I2C ESP32 wiring diagram — I2C wiring, two ESP32s

Mechanical Design

03 / 05

How It Works

04 / 05

Two ESP32s split the motor load over I2C: one acts as master, the other as slave, each driving two of the platform's four DC motors through its own L298N driver. A dedicated 12V rail powers the drivers, with a common ground tying every board together.

Firmware runs on the Arduino IDE, using the Wire library for I2C and analogWrite() for PWM speed control. All four motors carry encoders, wired in now so closed-loop PID control on speed and position is a firmware change away rather than a hardware one.

Master/Slave ESP32 Controllers

DC Motors With Encoders

Build Guide & What's Next

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Full Instructables Build Guide→

PID Tuning Closing the loop on motor speed and position using the encoders already wired in.
Sensor Integration Adding an IMU and distance sensors for obstacle awareness.
Wireless Control A control interface that doesn't depend on a tethered connection.
Open Hardware Release Publishing the CAD and firmware so others can build on it.