OmniCtrl: The coolest robot controller 🕹

The controller for Doug, the omni-wheeled robot!

GIF of the robot in action!

See my MakerWorld design for more details!

Join my 3D Design Discord and say hi and talk shop!

Features:

• Designed to be a universal toolbox of robotics control
• MultiMotor library: control different motor types together on the same CAN bus—mix and match any supported motors!
  • CANBus Drives: (supports mixed bus with different drives at once)
    • ODrive (and odrive clone like steadywin motors)
    • Xiaomi CyberGear motors
    • RobStride is a work-in-progress
  • Serial drives (e.g. Dynamixel) coming soon
• Multi-operator support
  • Multiple ESP-NOW controllers/CRSF remotes can connect and take-over
  • Nice seamless switching between controllers
• Multi-robot support
  • One remote can switch between multiple robots (work-in-progress)
• Supports different radio protocols
  • CRSF serial systems: ExpressLRS & Crossfire
  • ESP-NOW for low-latency control without external hardware
• IMUs!
  • Right now using the M5Stack IMU abstractions
  • Uses a Madgwick filter for orientation estimation
  • Fancy rotation matrix for on-end balancing
• LCD support using M5Stack library
  • has system for tuning PID gains

Installation

• Clone the repo
• Open in PlatformIO
  • Either from command-line or, recommended:
  • VSCode. Install the PlatformIO extension and open the project
• Choose the target you want and just hit upload!

Hardware: Rover

• Microcontroller: M5Stack AtomS3 [M5Stack]
• CANBus transceiver: Recommend the M5Stack Mini CAN Unit [M5Stack]

Hardware: ESP-NOW Controller

• M5StickC PLUS2 [M5Stack]
• I2C Joystick 2 [M5Stack]