XUAN-Bike

An autonomous bicycle that uses an ESP32-based controller and CAN bus to drive actuators for self-driving functionality.

Self-driving 1:10
No license: all rights reserved by the creator
arduino
3D printable

Suggested by Robotheca, created by @peng-zhihui (opens in a new tab), from github.com/peng-zhihui/XUAN (opens in a new tab). Pinned to commit b006928 (opens in a new tab).

Fork Download

Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Its license doesn't let Robotheca show its photos.

See the photos on GitHub

What it can do

Written by Robotheca from the project's documents.

Autonomous bicycle navigation using self-driving software
Controlled via CAN bus-connected motor driver
Uses MPU6050 IMU for motion sensing

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Assemble the ESP32-based controller PCB
2Mount the MPU6050 sensor
3Connect the CAN bus to the actuators
4Install the structure components from the Fusion 360 project
5Integrate the self-driving software (when released)

The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

ESP32-based microcontroller unit
MPU6050 IMU sensor
Atlas A200 AI acceleration module
CAN bus interface for motor driver
Atlas-Pi carrier board for Atlas A200 module

Connections

MPU6050 connected to ESP32
ESP32 communicates with motor driver over CAN bus
Atlas A200 module mounted on Atlas-Pi carrier board

Schematics, boards and diagrams

Project information

Difficulty: Advanced
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, PCB assembly tools, Fusion 360 (for structure), CAN bus tools

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit b006928. It isn't a rating of the robot.

3D and CAD files10/20
6 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Instructions to install or run it, built on arduino.
Link to your code, or add it to this repository.
Documentation10/15
README of 408 characters with 1 picture; 5 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: arduino
License: NONE

How to run it

Written by Robotheca from the project's documents.

Flash Ubuntu Server 18.04 image to Atlas A200 module SD card
Share host network to USB Ethernet adapter to enable internet access on board
Update software sources on Atlas A200 module to use Tsinghua mirror

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit b006928.

Community

Questions and improvements go to the creator's repository.

Photo