Motion Controller – Quad Driver, WIFI Communication, Vision System

Description

This motion controller offers a configurable package for either 1WD (Steerable Front), 2WD (Differential),  3WD (Steerable + Differential), or 4WD (All Wheel + Differential) AGV’s. Features and functions include:

• Custom PCB – Compact design on-boarding all modules except for voltage level converters
• Raspberry Pi – High level functions including WIFI-based remote control, camera interface, vision processing, location awareness, low level motion command generation
• ESP32 SBC – Low level motion command execution, PWD generation for motor driver modules, encoder signal processing
• Motor Drivers – Up to 4 BTS7960 motor driver modules driven by ESP32 PWD signals
• 12V to 5V Buck Converter – Voltage level conversion powering the CPU’s and sensors from a 12V battery for the motor drivers
• 14 Gauge Wiring – Routing high amperage between batteries, motor drivers, and DC motors, connected through 4 lever nut connectors, e.g. Wago brand.
• Fuses – Up to four 20 amp fuses, each protecting the one of the motor driver modules, connected to its B- screw terminal port.
• Enclosure – 6″x4″x2″ acrylic PCB enclosure, laser cut from clear 0.12″ acrylic sheet with edge tabs, acetone welded sides. Wiring holes in the bottom route wires directly into the vehicle frame underneath. Removable top/side shell with 4 screws without wiring disconnections.