Mini Mecanum bot goes to PiWars at Home 2021
Yes, we couldn't resist and put our names in for PiWars at Home 2021 and now we are in deep trouble.
We are using 2xMDD3A Cytron motor drivers to drive 4 motors independently so we can strafe when we use Mecanum motors. The drivers use PWM signal for forward and backward directions instead of using a PWM and Direction pin.
Looks like the GPIO Zero libraries' Motor abstraction will work with this driver. So we are using the following Pins on the Pi
| # | Pin | Used | Wire colour | |
|---|---|---|---|---|
| 1. | GPIO 17 (Physical 11) | Left Front | Forward | Yellow |
| 2. | GPIO 27 (Physical 13) | Left Front | Backward | Blue |
| 3. | GPIO 23 (Phyiscal 16) | Left Rear | Forward | Yellow |
| 4. | GPIO 24 (Physical 18) | Left Rear | Backward | Blue |
| 5. | GPIO 5 (Phyiscal 29) | Right Front | Forward | Yellow |
| 6. | GPIO 6 (Physical 31) | Right Front | Backward | Blue |
| 7. | GPIO 26 (Phyiscal 37) | Right Rear | Forward | Yellow |
| 8. | GPIO 16 (Phyiscal 36) | Right Rear | Backward | Blue |
| 9. | GPIO 2 (Physical 3) | I2C SDA | ||
| 10. | GPIO 3 (Physical 5) | I2C SCL | ||
| 11. | GPIO 22 (Physical 15) | S (Fish feeder Servo) | ||
| 13. | Ground (Physical 06) | UART | ||
| 14. | GPIO 14 (Physical 08) | UART TX | ||
| 15. | GPIO 16 (Physical 10) | UART RX | ||
| 16. | 3v3 (Physical 1) | I2C/UART | ||
| 17. | 5v (Physical 2) | |||
| 18. | GPIO 21 (Physical 40) | Blue Gripper Stop switch | ||
| 19. | GPIO 20 (Physical 39) | Red Gripper Stop switch | ||
| 20. | GPIO 12 (Physical 32) | Green Gripper Stop switch |
| 3v3 Power | 01 [*] | [*] 02 | 5v Power /1 |
| GPIO 2(I2C SDA) | 03 [*] | [_] 04 | 5v Power |
| GPIO 2(I2C SDA) | 05 [*] | [*] 06 | Ground |
| GPIO 4(GPCLK0) | 07 [_] | [*] 08 | GPIO 14 (UART TX) |
| Ground | 09 [_] | [*] 10 | GPIO 15 (UART RX) |
| GPIO 17 | 11 [*] | [_] 12 | GPIO 18 (PCM CLK) |
| GPIO 27 | 13 [*] | [*] 14 | Ground |
| GPIO 22 | 15 [_] | [*] 16 | GPIO 23 |
| 3v3 Power | 17 [_] | [*] 18 | GPIO 24 |
| GPIO 10 (SPI MOSI) | 19 [_] | [_] 20 | Ground |
| GPIO 9 (SPIO MISO) | 21 [_] | [_] 22 | GPIO 25 |
| GPIO 11 (SPIO SCLK) | 23 [_] | [*] 24 | GPIO 8 (SPI0 CE0) |
| Ground | 25 [_] | [*] 26 | GPIO 7 (SPI0 CE1) |
| GPIO 0 (EEPROM SDA) | 27 [_] | [*] 28 | GPIO 1 (EEPROM SCL)) |
| GPIO 5 | 29 [*] | [_] 30 | Ground |
| GPIO 6 | 31 [*] | [*] 32 | GPIO 12 (PWM0) |
| GPIO 13 (PWM 1) | 33 [_] | [_] 34 | Ground |
| GPIO 19 (PCM FS) | 35 [_] | [*] 36 | GPIO 16 |
| GPIO 26 | 37 [*] | [*] 38 | GPIO 20 (PCM DIN) |
| Ground 39 | 39 [*] | [*] 40 | GPIO 21 (PCM DOUT) |