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gr4Dalek robot = [python@raspberry pi] + [micropython@stm32f4] + [mecanum drive@3d printed chasis]

Description

Multi-purpose Mecanum wheeled robot

control

• STM32F4 programmed in Micropython

  • STM controls the motors and other peripherals
  • peripherals
    • Ultrasounds HC-SR04
    • CNY70
    • accelerometer (the one on STM32F4)

• Raspberry Pi (3) programmed in Python3

  • rpi2mcu communication

    • control commands sent to the STM via <insert communication protocol>
      • currently UART
      • future I2C / SPI

  • image processing

    • via OpenCV3.x @ Python3

  • peripherals

    • camera
      • Raspi Camera v2.1 with wide fish-eye lens
        • ebay lens is cheap
        • changed the lens myself
      • more usb webcam
    • usb wireless gamepad
      • with 2 sticks for movement control
    • audio
      • speaker (not yet)
      • microphone (hmm.. probably via external usb audiocard)

chasis

• modeled in Blender
  • models
• 3D printed on Rebel 2
  • PLA used