#Mini loki

Hardware

Hardware	Description
bqlabs/OmniBoard	ESP12 WiFi board with 3 motor drivers and 1s lipo charger
Turnigy nano-tech 460mah 2S 25~40C Lipo Pack	460mah 2S 25~40C Lipo Pack
3 x Pololu Micro Metal Gearmotors	Brushed DC gearmotors available in a wide range of gear ratios—from 5:1 up to 1000:1—and with four different motors: high-power with long-life carbon brushes (HPCB), high-power with shorter-life precious metal brushes (HP), medium-power (MP), and low-power.
3x Pololu Micro Metal Gearmotor Bracket Extended	Pololu Micro Metal Gearmotor Bracket Extended Pair
3x 48mm Omniwheel for LEGO NXT, Servo	Omniwheel for NXT compatible hub or Axle Centre and servo motor

Software

We use platformio to upload the code to the board.

~/miniloki$ cd code/platformio/miniloki_omniboard
~/miniloki/code/platformio/miniloki_omniboard$ platformio run

We use Python to control miniloki with a joystick

~/miniloki$ cd code/python/
~/miniloki/code/python$ python client.py