holonomic

Holonomic driving with Infineon XMC micro controller and TLE94112 motor controller

What it is

This library drives a three motor holonomic platform, a rama killough, with omniwheels. This platform can drive in x/y direction or rotate directly on site.

Features

• Initiates all three motors virtually placed at 30°,150° and 270°
• runs motors by calculating the driving speed of each motor for the given angular
• rotates the platform by driving all motors three motors in the same direction
• controls the speed of the whole platform
• coasts or stops the platform
• is based on the Infineon TLE94112 motor controller library
• runs best with Infineon XMC1100 or XMC4700 micro controller

Demo platform

A LEGO(R) based demo platform for a rama killough is available

Hardware needed

For this project you need at least the following parts:

• an Infineon XMC micro controller like the XMC1100 or a XMC4700 and compatible
• an Infineon TLE94112 DC motor controller
• three Lego(R) EV3 or NXT motors
• 6 Omniwheels with Lego(R) compatible hub
• Lego lever and pins, batteries box etc. (see building plan)
• a voltage regulator with 6-12V input and 5V output to power the XMC microc ontroller with the 9V batteries box
• a Bluetooth or wifi connection for communication

Software needed

For the base robot software you need:

• Infineon XMC Arduino port
• the TLE94112 DC motor library
• this library
• optional Bluetooth or wifi software ports
• optional Infineon Optiga Trust for secure communication