https://github.com/olaffilies/holonomic

Holonomic driving platform build from LEGO and using Infineon TLE94112 motor controller with either a Infineon XMC 1100 BootKit or a Cypress wiced-43xxx platform.
https://github.com/olaffilies/holonomic

cypress holonomic-drive infineon tle94112le wiced

Last synced: 13 days ago
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Holonomic driving platform build from LEGO and using Infineon TLE94112 motor controller with either a Infineon XMC 1100 BootKit or a Cypress wiced-43xxx platform.

• Host: GitHub
• URL: https://github.com/olaffilies/holonomic
• Owner: OlafFilies
• License: other
• Created: 2021-02-19T00:14:15.000Z (almost 4 years ago)
• Default Branch: master
• Last Pushed: 2021-02-26T01:08:14.000Z (almost 4 years ago)
• Last Synced: 2024-11-03T22:22:36.395Z (2 months ago)
• Topics: cypress, holonomic-drive, infineon, tle94112le, wiced
• Language: C++
• Homepage:
• Size: 5.35 MB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: Contributing.md
  • License: LICENSE.md

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README

        
## holonomic

> Holonomic driving with Infineon XMC micro controller and TLE94112 motor controller

## What it is

This library drives a three motor holonomic platform, a rama killough, with omniwheels.

This platform can drive in x/y direction or rotate directly on site.

## Features

- Initiates all three motors virtually placed at 30°,150° and 270° 

- runs motors by calculating the driving speed of each motor for the given angular

- rotates the platform by driving all motors three motors in the same direction

- controls the speed of the whole platform

- coasts or stops the platform

- is based on the Infineon TLE94112 motor controller library

- runs best with Infineon XMC1100 or XMC4700 micro controller

## Demo platform

A LEGO(R) based demo platform for a rama killough is available

## Hardware needed

For this project you need at least the following parts:

- an Infineon XMC micro controller like the XMC1100 or a XMC4700 and compatible

- an Infineon TLE94112 DC motor controller

- three Lego(R) EV3 or NXT motors

- 6 Omniwheels with Lego(R) compatible hub

- Lego lever and pins, batteries box etc. (see building plan)

- a voltage regulator with 6-12V input and 5V output to power the XMC microc ontroller with the 9V batteries box

- a Bluetooth or wifi connection for communication

## Software needed

For the base robot software you need:

- Infineon XMC Arduino port

- the TLE94112 DC motor library

- this library

- optional Bluetooth or wifi software ports

- optional Infineon Optiga Trust for secure communication