Oganeson

School/Club: Robotics Club at the Combined School of St. Francis, Bratislava

Contact: molastudios7@gmail.com

Category: dance/performance

Construction and Hardware

List of Components

Three robots, each containing:

a chassis with 4 mecanum wheels, each driven by its own motor
Coin D6 lidar
2× Li-Ion 3.8 V 18650 batteries with plastic 18650 holders
5 V (8 A) power supply
PICO4DRIVE control board with integrated motor drivers and ADC converter
PICO 2 W single-board microcontroller
KCD11 power switch
HuskyCam smart camera

Two of the robots additionally contain:

a 6-degree-of-freedom robotic arm
11.1 V LiPo battery
5 V (8 A) power supply
KCD11 power switch

3D Models, Drawings, and Construction Sketches

The scene contains two large white plastic flower pots

Schematics, PCB Designs, Electronics

The PICO4DRIVE control board was modified to allow independent power supply for the chassis motors and electronics from 2× Li-Ion 18650 batteries, as well as independent power supply for the 6 servomotors of the robotic arm

Software

GitHub repository containing the source code includes a support directory containing base source files: manufacturer-provided lidar reading code adapted by us for the RPI PICO, mecanum chassis control developed in our robotics club during the previous year, and a simple program for controlling 6 servomotors to test the robotic arm