This is the repository for the motion control code (python and C) of a AGV built up with Raspberry Pi, Arduino and encoded DC motor driven Mecanum wheels, which is controlled by a bluetooth joystick controller.

Arduino code upload

Environment Setup for Raspberry Pi

Please install mini-forge for Linux aarch64 (arm64) first, then:

conda activate
conda create -n agv python=3.10
conda activate agv
python -m pip install pygame, numpy
python -m pip install pyserial

Controller - Raspberry Pi

Connect Bluetooth controller to Raspiberry Pi

We have the controller 8Bitdo SN30 Pro, which is a third-party controller for Xbox. To start the controller, press "start". To start and enter pairing mode, press "start" and "Y" for 3-5 seconds. Search Bluetooth device on Raspberry Pi side and connect/pair it, once it is paired, you receive a virbration feedback from the controller.

To test the button and axis layout, run:

cd controller
python JoystickButtonFinder.py

Raspberry Pi - Arduino

We simply use USB cable to serial communication between Pi and Arduino. Run testing code on raspberry side

Demo for Mecanum robot controll

python demo.py