deepseek/Micro-Wheeled_leg-Robot
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MuShibo authored and GitHub committed 2024-08-13 08:30:38 +08:00
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* There are four PCBs that need to be fabricated; the circuit boards provide both the schematic and PCB source files, and the IDE used is [LCEDA](https://lceda.cn/). * There are four PCBs that need to be fabricated; the circuit boards provide both the schematic and PCB source files, and the IDE used is [LCEDA](https://lceda.cn/).
* The main control board is based on the ESP32, with the brushless motor driver chip being the L6234PD013TR. * The main control board is based on the ESP32, with the brushless motor driver chip being the L6234PD013TR.
* The encoder chip used is the AS5600, communicating with the main control board via the I2C interface. * The encoder chip used is the AS5600, communicating with the main control board via the I2C interface.
* The IMU used is the MPU6050 module, which shares the same I2C interface with the left-side encoder. * The IMU used is the MPU6050 module, which shares the same I2C interface with the right-side encoder.
* The servo debugging board unifies the two serial lines into one signal line, completing the task through time-division multiplexing to send and receive data. * The servo debugging board unifies the two serial lines into one signal line, completing the task through time-division multiplexing to send and receive data.
* In addition, you will need three GH1.25 4PIN double-ended cables, with a recommended length of 15cm. These need to be purchased separately.
| Wire Connection | | Wire Connection |
| ------------ | | ------------ |