simplefoc-small tank

Hardware : ESP32 main control, L6234 driver chip, MPU6050, AS5600 encoder, 2804 gimbal motor, 18650 battery*2

Software : simplefoc-based motor driver (verified), Blinker-based Bluetooth remote control (verified), mpu6050 standing balance function (unverified), SBUS protocol remote control (unverified)

Mechanical part : 3D printing of the main body, 3D printing of TPE material for the tracks, direct drive of the rear wheels, and bearings on the front wheels.

Production process : 1. PCB layout

                  2. Purchase original parts on PCB

                  3. Shell track printing 

                  4. Purchase of motor bearings, etc.

                  5. Circuit board welding and overall assembly

                  6. Arduino installation, simplefoc library installation, blinker library installation, esp32 support installation, open the code and compile and download

                  7. Download blinker on your mobile phone to create a new device and import the bliker code

                  8. Power on and connect to Bluetooth (End)

It is now playable , and the power and speed are quite good. However, Blinker itself does not feel very good for IoT remote control, and I have limited capabilities and have not connected to other remote control software. The link is easily broken when using Bluetooth remote control, so consider connecting an external antenna. The D5 gets very hot when charging , so it can be replaced or not. The power supply ground wire of the motor may be too thin . You may consider rewiring it, or you may not wire it. The voltage detection program has not been written to prevent over-discharge .

One servo interface, one IIC oled interface, and one SBUS receiver interface are reserved. The total cost is about 100.

Motor link (inventory products may not be out of stock anytime): https://item.taobao.com/item.htm?spm=a1z09.2.0.0.73c52e8dUTmwkp&id=635462370506&_u=9vihlagebc5

BiliBili video: https://www.bilibili.com/video/BV1zg411L7jK?from=search&seid=16736743551686547822