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→Engineering Project Data
=Engineering Project Data=
=Holonomic Robot Examples=
[[File:Holonomic Frame with Wheels.gif|120px|thumb|right|See Image file for Source]]
[[File:Holonomic Frame with Wheels.gif|120px|thumb|right|See Image file for Source]]
<youtube width="400" height="300" >soudy8fKygk</youtube>
<youtube width="400" height="300" >soudy8fKygk</youtube>
A holonomic system is when the number of controllable degrees of freedom equals the total degrees of freedom.
A holonomic system is when the number of controllable degrees of freedom equals the total degrees of freedom.
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===Development Platform===
=Project Purpose=
{| {{Table}}
Developing software, and design hardware using sensor integration, with a view to developing skillsets and knowledge concerning holonomic drive systems. This will allow team members to utilize holonomics in the WAM-V Propulsion, Control, Guidance, and Sensor sections during RobotX
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|-
| [[File:CrawlerBot1.jpg|120px|Bot Top Down]]
=Engineering Project Data=
| [[File:CrawlerBot2.jpg|120px|Bot angle View]]
===Versions of Robotic Platform===
|-
{{Gallery
|title=Current Version Platform
| width=150 | height=190
|align=left
|footer=
|File:Crawler Bot Ortho.jpg
|alt1= With suspension, and Computer
|Ortho View
|File:Crawler Bot Top Down.jpg
|alt2= Batteries, Computer, and Power Management
|Top Down View
|File:Crawler Bot Suspension.jpg
|alt3= Close up of Suspension
|Side View
}}
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{{Gallery
|title=v1:Development Platform
| width=100 | height=140
|align=left
|footer=
|File:CrawlerBot1.jpg
|alt1= Wheels temporarily mounted on angle brackets
|Top Down View
|File:CrawlerBot2.jpg
|alt2= Wheels temporarily mounted on angle brackets
|Side View
}}
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==Mechanical==
==Mechanical==
===3D Printer Technology===
{{Gallery
|title=3D Printers used to print parts for the Crawler Bot
| width=100 | height=140
|align=left
|footer=
|File:3DPA1.jpg
|alt1=FDM Printer Technology
|FDM Printer
|File:3DPB1.jpg
|alt2=Filament Reel stored in box to control moisture content
|Filament Reel
|File:3DPB2.jpg
|alt3= View of top of printer
|Top of X-Max Printer
|File:3DPB3.jpg
|alt4=
|Front of X-Max Printer
}}
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===Robot Body and parts===
<3d scale="2" width="200" height="200" norotate="true" color="aabbff">MainBody.stl</3d>
<3d scale="3" width="200" height="200" norotate="true" color="aabbff">HolonomicDriveControlArm.stl</3d>
<3d scale="7" width="200" height="200" norotate="true" color="aabbff">Second type of wheel hub.stl</3d>
===Robot Omni wheels===
<3d scale="2" width="200" height="200" norotate="true" color="aabbff">omni_plate.stl</3d>
<3d scale="3" width="200" height="200" norotate="true" color="aabbff">omni_roller.stl</3d>
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===Omni Wheels and Positioning===
===Omni Wheels and Positioning===
[[File:Omni wheel.jpg|120px|thumb|right|Typical Omni-Wheel]]
[[File:Omni wheel.jpg|120px|thumb|right|Typical Omni-Wheel]]
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===[https://www.amazon.com/gp/product/B07VZT8MN9/ref=ppx_yo_dt_b_asin_title_o06_s01?ie=UTF8&psc=1 Hardware Case for Raspberry PI 4]===
===[https://www.amazon.com/gp/product/B07VZT8MN9/ref=ppx_yo_dt_b_asin_title_o06_s01?ie=UTF8&psc=1 Hardware Case for Raspberry PI 4]===
==Code and Mathematics==
==Code and Mathematics==
<source lang="Python">
===Laptop Code ===
<syntaxhighlight lang="Python">
#!/usr/bin/python3
#!/usr/bin/python3
</source>
</syntaxhighlight>
===Robot Code ===
<source lang="Python">
<source lang="Python">
# -*- coding: utf-8 -*-
# -*- coding: utf-8 -*-