wheeled | Base Component

wheeled

A wheeled base supports mobile robotic bases with motors on both sides (differential steering). To configure a wheeled base as a component of your machine, first configure the board controlling the base and any motors attached to the base.

If you want to test your base as you configure it, physically assemble the base, connect it to your machine’s computer, and turn it on.

{
  "components": [
    {
      "name": "my-pi",
      "model": "pi",
      "api": "rdk:component:board",
      "attributes": {},
      "depends_on": []
    },
    {
      "name": "rightm",
      "model": "gpio",
      "api": "rdk:component:motor",
      "attributes": {
        "pins": {
          "dir": "16",
          "pwm": "15"
        },
        "board": "my-pi"
      },
      "depends_on": []
    },
    {
      "name": "leftm",
      "model": "gpio",
      "api": "rdk:component:motor",
      "attributes": {
        "pins": {
          "dir": "13",
          "pwm": "11"
        },
        "board": "my-pi"
      },
      "depends_on": []
    },
    {
      "name": "my-wheeled-base",
      "model": "wheeled",
      "api": "rdk:component:base",
      "attributes": {
        "width_mm": 195,
        "wheel_circumference_mm": 183,
        "left": ["leftm"],
        "right": ["rightm"]
      },
      "depends_on": []
    }
  ]
}

The following attributes are available for wheeled bases:

Name Type Required? Description
left array Required Array with the name of any drive motors on the left side of the base.
right array Required Array with the name of any drive motors on the right side of the base.
wheel_circumference_mm int Required The outermost circumference of the drive wheels in millimeters. Used for odometry. Can be an approximation.
width_mm int Required Width of the base in millimeters. In other words, the distance between the approximate centers of the right and left wheels. Can be an approximation.
spin_slip_factor float Optional Can be used in steering calculations to correct for slippage between the wheels and the floor. If used, calibrated by the user.

Wire a wheeled base

An example wiring diagram for a base with one motor on each side:

Note that your base’s wiring will vary depending on your choice of board, motors, motor drivers, and power supply.