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First outdoor test of my DIY 4-wheel skid-steer rover (hoverboard motors + ODrive)
First real drive outside. Before this it only ran on the bench. Build: four 10.5" hoverboard hub motors, 2x ODrive (ODESC 3.6), Raspberry Pi 5, aluminium profile frame. Control is fully manual right now, from a laptop over 4G: live camera, per-motor telemetry, ARM / E-STOP. Main thing I learned: skid-steer turning depends heavily on surface grip, so that has to go into the control logic rather than being tuned by feel. Next step is autonomous A-to-B: 3D lidar, ODrive on CAN with closed-loop wheel control, ROS2/Nav2 for planning. Still early. Happy to answer anything about the build. submitted by /u/NiamorroMilky [link] [Kommentare] reddit.com · reddit.com
First real drive outside. Before this it only ran on the bench. Build: four 10.5" hoverboard hub motors, 2x ODrive (ODESC 3.6), Raspberry Pi 5, aluminium profile frame. Control is fully manual right now, from a laptop over 4G: live camera, per-motor telemetry, ARM / E-STOP. Main thing I learned: skid-steer turning depends heavily on surface grip, so that has to go into the control logic rather than being tuned by feel. Next step is autonomous A-to-B: 3D lidar, ODrive on CAN with closed-loop wheel control, ROS2/Nav2 for planning. Still early. Happy to answer anything about the build. submitted by /u/NiamorroMilky [link] [Kommentare]
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