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LokaBot

An open-source, palm-sized autonomous robot built around a CodeCell C3, a DRV8833 motor driver and a multi-zone Time-of-Flight sensor.

  • Wheeled
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @faajmid (opens in a new tab), from github.com/faajmid/Loka (opens in a new tab). Pinned to commit e106c5d (opens in a new tab).

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

Photo and 3D model

LokaBot, photo from its repository
Photo:@faajmid (opens in a new tab)MITsource file (opens in a new tab)

3D preview converted from github.com/faajmid/Loka at e106c5d, under MIT. View the original files from GitHub (21.4 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Palm-sized autonomous two-wheel robot with obstacle avoidance, light following and IMU-based behaviour as stated project goals
  • Drives two N10 DC motors forward, reverse, left and right at a low duty cycle
  • Reads a 4x4 multi-zone distance frame and computes left, centre and right obstacle distances with a basic steering decision
  • Reads onboard light/proximity, rotation, acceleration, tap, motion state and battery level
  • Project status: mechanical design and hardware documentation are primary; examples are hardware tests and starting points

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Inspect for shorts and reversed battery polarity
  2. 2Power the CodeCell from USB without the motors connected
  3. 3Upload the CodeCell sensor example and verify Serial Monitor output
  4. 4Connect the ToF sensor and run the SparkFun ToF example
  5. 5Raise the robot so its wheels are clear of the table
  6. 6Connect the DRV8833 and motors, then run the motor example at low duty cycle
  7. 7Reverse a motor's two output wires if its physical direction is opposite to the

The guide appears here as you scroll.

Guide by @faajmid (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • DRV8833 dual H-bridge motor driver
  • Two N10 3 V DC motors, about 298 RPM, 3 mm D-shaft
  • VL53L5CX-compatible multi-zone Time-of-Flight breakout board
  • Compact 1S LED battery indicator

Connections

  • CodeCell IO1 and IO2 connect to DRV8833 AIN1 and AIN2 for the left motor
  • CodeCell IO5 and IO6 connect to DRV8833 BIN1 and BIN2 for the right motor
  • CodeCell VO connects to DRV8833 VM as motor supply and GD to GND as common ground
  • Left motor goes to AOUT1/AOUT2 and right motor to BOUT1/BOUT2; swap a motor's two wires if it turns the wrong way
  • ToF board uses CodeCell 3V3 for power, GD for ground, and SDA and SCL on the default I2C bus at 400 kHz