DotBot LH2-Shield

DotBot - PCB and Mechanical Parts

Introduction

This repository contains hardware projects for the DotBot robot:

• the Kicad project for the main PCB and for the Lighthouse 2 shield PCB
• the FreeCAD project for the mechanical parts (motor holders, ball caster wheel spacer and holder) that can be 3D printed
• SVG files for the optional top hat. These files can be used with a laser cutter

This repository also provides a list of off-the-shelf components required to assemble the DotBot:

• Pololu components (ball caster and encoder magnets)
• Pololu wheels (if not using the 3D printed version)
• Screws
• Threaded inserts
• 2 pins micro JST 2.0 male/female connectors
• 6V dual shaft DC motors

PCB

The Kicad projects are located in the pcb directory.

This PCB is based on:

• an nRF5340 microcontroller
• a dual DC motor driver
• magnetic encoders for the motors
• an extensible design with a pluggable shield

The full resolution schematics can be found at dist/pcb/schematic/DotBot.pdf

Shields

This repository already contains the kicad project for one shield in pcb/lh2 which embeds:

• an RGB LED
• an ST ISM330 IMU sensor
• an ST LIS3MDL magnetometer sensor
• a TS4231 connected to a photodiode: this design is used for indoor localization using a Lighthouse VR base station.

To help you start designing new compatible shields, check the shield template kicad project.

Hardware components

The Freecad project, Step files and 3D Manufacturing files are located in the parts directory.

Once you have collected all components and you have prepared them.

Assembling manual

The assembling manual will guide you through the setup of your DotBot.