This micromouse (or at least wall follower :)) is constructed for the Istrobot micromouse competition held in Bratislava, Slowenia. As beginners are welcome, the maze will always be solvable by just following the left or right wall, so this should be the first big milestone to achieve.
The mouse is built by the following components, all connected on a custom PCB by Jonas Wühr:
- 200 mAh 7.4V LiPo battery
- ESP32-WROOM-32 module: The controller of the mouse with a 4Mb integrated external SPI flash; TRM ; see other useful links at the end of the datasheet
- BNO055: 9 axis IMU (acc, gyro, compass) from Bosch, highly sophisticated with own temp. compensation and even sensor fusion output (I2C interface)
- DRV8833: Dual H-bridge motor driver by TI
- 2 x Pollulo geared micro motors (gear ratio 1:30) without shaft encoders
- 2 x CNY70: optocoupler for our wheel rotation encoding (manually printed pattern of 14 (?) transitions per rotation) (pattern should be added to the repository)
- 2 x self made CNC wheels with self poured silicone surface for maximum grip (outder diameter: 27mm)
- 5 x GP2Y0A51SK: analogue IR and triangulation based distance sensors (please add exact model and link)
- 2 x LT1117: Low dropout regulators with 2.85V, 3.3V or 5V fixed outputs - 3.3V used for all digital components, 5V maybe
There will most probably be at least be two different softwares, one from Jonas and one from Steven, plus maybe some optional enhanced variants.