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Enterprise E Smart Car

An open-source omnidirectional smart car designed for the 16th National Intelligent Vehicle Competition, featuring embedded control and PID algorithms.

  • Self-driving 1:10
  • Open source

Suggested by Robotheca, created by @ittuann (opens in a new tab), from github.com/ittuann/Enterprise_E (opens in a new tab). Pinned to commit 5e7f9d8 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
Apache-2.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script)

Photo

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

  • Runs on omnidirectional mecanum wheels
  • Follows lines with a camera
  • Avoids obstacles with a TFMiniPlus laser rangefinder
  • Climbs ramps
  • Navigates crossings and islands
  • Adjusts speed on straight and curved paths
  • Reports data via anonymous upper-computer software V7

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Study PID control and tuning methods
  2. 2Implement filtering techniques (RC, IIR, FIR, Kalman)
  3. 3Develop element handling strategies (islands, ramps, intersections)
  4. 4Design omnidirectional Mecanum wheel control
  5. 5Set up upper and lower computer communication
  6. 6Assemble mechanical structure and troubleshoot issues
  7. 7Integrate camera tracking and sensor systems

The guide appears here as you scroll.

Guide by @ittuann (README.md), under Apache-2.0. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • CH32V103 microcontroller on a custom motherboard
  • DRV8701E motor driver on a custom PCB
  • TFMiniPlus laser rangefinder
  • Camera module for line tracking
  • Brushless or brushed motors for four mecanum wheels

Connections

  • Motherboard connects to DRV8701E driver via PCB traces
  • Motor driver powers and controls four motors
  • TFMiniPlus wired to motherboard for distance data
  • Camera wired to motherboard for image input