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OSOYOO Omni-wheel Manual

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More information:
http://osoyoo.com/?p=49235

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finn murphy
March 30, 2025

where do you put the other wirers that are on the moters?

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1 comments:
Mr. Anderson
March 31, 2025

The additional wires from the OSOYOO Omni-wheel motors connect to the Model Y motor driver board. Specifically:

- M_A IN1, IN2, IN3, IN4 pins connect to D5, D6, D7, D8 on the control board.
- M_B IN1, IN2, IN3, IN4 pins connect to D22, D24, D26, D28.
- M_A ENA and ENB pins connect to D11 and D12.
- M_B ENA and ENB pins connect to D9 and D10.

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Summary of Contents for OSOYOO Omni-wheel

  • Page 1 More information: http://osoyoo.com/?p=49235...
  • Page 2 The kit comes with OSOYOO mega2560 board (fully compatiable with Arduino Mega2560) and OSOYOO Esp8266 Wifi Shield. Besides, we have designed five step by step lessons which help students to learn Arduino robot programming from scratch. If you are an experience DIY player or Arduino programmer, you can also get a lot of knowledge from this kit’s open source...

  • Page 3: Table Of Contents

    CONTENT Lesson 1 Basic Robot Car Assembling ..... - 1 - Lesson 2 Obstacle Avoidance Robot Car ....- 22 - Lesson 3 Line Following Robot Car ....... - 29 - Lesson 4 Bluetooth Controlled Imitation Driving .. - 34 - Lesson 5 Wifi Controlled Robot Car ......

  • Page 4: Lesson 1 Basic Robot Car Assembling

    Mecanum Omni wheel is a very powerful wheel technology which allows robot car make omni-directional movement (parallel shift to left and right). In this project, we will show how to use Arduino to control an OSOYOO Brand mecanum wheel robot car.
  • Page 5 STEP1. Install the metal holder on metal chassis with 16pcs M3.5*12 screws, M3.5 rubber rings and M3.5 nuts STEP2. Installing 8pcs M3*6 screws as per the following red box. STEP3. Install the jackscrews on al-alloy coupling, please tighten jackscrews to fix the al-alloy - 2 -...
  • Page 6 coupling on motor. The shaft from the motor has a flat area on it. Make sure that the jackscrew was positioned on this flat, and tightened both screws on the shaft. STEP4. Install the 4 mecanum wheels on al-alloy coupling with 4pcs M2.5*10. The Mecanum wheel has some sub-wheels on the main wheel.
  • Page 7 two types by the sub-wheel directions. Check the type left wheel and right wheel by following picture left side. You must 100% sure that correct type of wheel is installed into correct position as per picture right side, the rolling direction of each wheel will determine the whole car moving directions showed in the picture.
  • Page 8 on tracking sensor as following pictures. STEP6. We will add a 5-Point tracking sensor module to the car chassis with M3 nuts as following pictures. STEP7. Install 12pcs M3 plastic pillars and nuts on acrylic board as following pictures. - 5 -...
  • Page 9 STEP8. Install 1pcs osoyoo Mega2560 board, 1pcs model Y motor driver board and 1pcs voltage meter on acrylic chassis with 8pcs M3 plastic screws as following pictures. STEP7. Install battery box with 4pcs M3x10 screws and nuts as following pictures.
  • Page 10 STEP8.Install SG90 servo on the acrylic chassis with 2pcs M2.2*8 self tapping screws as following pictures. STEP9. Remove the red jumper cap from wifi shield and insert OSOYOO wifi shield into Arduino Mega2560 board as following pictures. - 7 -...
  • Page 11 STEP10.Install the acrylic chassis on metal chassis. Please note the front and back of acrylic chassis and metal chassis. Before connect wires, make sure you have inserted OSOYOO WIFI Shield onto MEGA2560 board already. - 8 -...
  • Page 12 - 9 -...
  • Page 13 - 10 -...
  • Page 14 STEP11. Connect 4 motors to model Y driver board as per the following pictures. - 11 -...
  • Page 15 STEP12. Model Y board M_A IN1,IN2,IN3,IN4 pin connect to D5,D6,D7,D8. Model Y board M_B IN1,IN2,IN3,IN4 pin connect to D22,D24,D26,D28. M_A ENA ,ENB pin connect to D11,D12. M_B ENA ,ENB pin connect to D9, D10. - 12 -...
  • Page 16 Caution: When insert/remove the 6-pin parallel cable plug into Model Y 6-pin male socket, please hold the white plastic pin-holder to do operation. Never drag the wires to pull the plug out of the socket, otherwise it will damage the wires. - 13 -...
  • Page 17 STEP12. Connect the voltage meter to model Y motor driver board with 3pin female to female cable as following picture. Connect model Y motor driver board to wifi shield with 2pin XH2.54 female cable. Connect 18650 battery box to model Y motor driver board as following picture. - 14 -...
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  • Page 19 - 16 -...
  • Page 20 - 17 -...
  • Page 21 Step 2: Download https://osoyoo.com/driver/mecanum_metal_chassis_m2/m2-lesson1.zip, unzip the download zip file called m2-lesson1.zip , you will see a folder called m2-lesson1. Step 3: Connect Mega2560 board to PC with USB cable, Open Arduino IDE -> click file ->...
  • Page 22 Step 4: Choose corresponding board/port for your project, upload the sketch to the board. - 19 -...
  • Page 23 Disconnect Arduino from PC, put battery into battery box. When you put the car on the ground and turn on the switch on OSOYOO Uart WIFI shield and the switch on battery box if you install battery box for 18650.
  • Page 24 #define SLOW_TURN_SPEED #define BACK_SPEED #define SHIFT_SPEED #define SPEED #define FAST_SPEED MIN_SPEED is the minimum power required to start the car. If when APP engine toggle is switched to RED, but your car does not move, you need increase this value , if the car runs too fast at engine start moment, you need reduce this value.

  • Page 25: Lesson 2 Obstacle Avoidance Robot Car

    OSOYOO Mecanum Wheels Robotic Car Chassis x 1 (2xleft-wheels/2xright-wheels and Motor x 4) OSOYOO Mega2560 board fully compatible with Arduino x 1 OSOYOO WiFi shield x 1...
  • Page 26 STEP3:Please keep all lesson 1 connections same as it is. Before connecting wires, make sure that you have connect SG90 servo motor to model Y board and OSOYOO uart wifi shield as follows.
  • Page 27 Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please skip this step). Download Arduino IDE from https://www.arduino.cc/en/Main/Software?setlang=en , then install the software. Step2: Download https://osoyoo.com/driver/mecanum_metal_chassis_m2/m2- lesson2.zip , unzip the download zip file m2-lesson2.zip, you will see a folder called m2-lesson2 .） - 24 -...
  • Page 28 Step3: Connect Mega2560 board to PC with USB cable, Open Arduino IDE -> click file -> click Open -> choose code “m2-lesson2” in lesson folder, load the code into Arduino as following. Step4: Choose corresponding board/port for your project, upload the sketch to the board. - 25 -...
  • Page 29 Step5: Ultrasonic sensor servo initial direction alignment After turning on the battery, the servo will make some movement and finally stops at a direction for 5 seconds.During this first 5 seconds, you must make sure the Ultrasonic sensor(two eyes) is facing straight forward. If it is not straight forward, you should turn off battery immediately and remove the sensor from servo, reinstall it and make it facing straight forward direction as following picture.
  • Page 30 If the ultrasonic module turn to front view position, that means you no need adjust sensor position anymore. Just wait 5 seconds. If no obstacle is detected, the car will go forward. If any obstacles is detected, the car will stop, the ultrasonic module will turn from right to left to detect surrounding obstacle.
  • Page 31 #define TURN_SPEED 150 //both sides of the motor speed #define BACK_SPEED1 150 //back speed #define BACK_SPEED2 100 //back speed - 28 -...

  • Page 32: Lesson 3 Line Following Robot Car

    OSOYOO Mecanum wheels robotic car chassis x 1 (2x left-wheels/2x right-wheels and Motor x 4) OSOYOO Mega2560 board fully compatible with Arduino x 1...
  • Page 33 STEP2. We have added a 5-Point tracking sensor module to the car chassis with M3 nuts in lesson1 as following pictures. Start the installation from previous status of Lesson 1. If you have installed Lesson 1, no need change anything, just keep the hardware wire connection as it is. STEP3 : Connect 5-point tracking sensor board to WIFI Shield as per following picture.
  • Page 34 Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please skip this step). Download Arduino IDE from https://www.arduino.cc/en/Main/Software?setlang=en , then install the software. Step 2: Download https://osoyoo.com/driver/mecanum_metal_chassis_m2/m2-lesson3.zip , unzip the download zip file m2-lesson3.zip, you will see a folder called m2-lesson3 . - 31 -...
  • Page 35 Step 3: Connect Mega2560 board to PC with USB cable, Open Arduino IDE -> click file -> click Open -> choose code “m2-lesson3.ino” in lesson folder, load the code into Arduino as following. Step 4: Choose corresponding board/port for your project, upload the sketch to the board. Step 5: Adjust the sensitivity of tracking sensor modules.
  • Page 36 Turn on and hold the car and adjust the potentiometer on the tracking sensor with cross screwdriver until you get the best sensitivity status: the signal indicate LED light will turn off when sensor is above white ground, and the signal LED will turn on when the sensor is above black track.

  • Page 37: Lesson 4 Bluetooth Controlled Imitation Driving

    Mecanum Omni wheel is a very powerful wheel technology which allows robot car make omni-directional movement ( parallel shift to left and right). In this project, we will show how to use Arduino to control an Osoyoo Brand mecanum wheel robot car.
  • Page 38 STEP2: Bluetooth Module should be inserted into bluetooth 6-pin slot in OSOYOO Wifi Board Open- source Download Arduino IDE here: Arduino https://www.arduino.cc/en/Main/Software?setlang=e Software(IDE - 35 -...
  • Page 39 , then install the software. Step 2: Download https://osoyoo.com/driver/mecanum_metal_chassis_m2/m2- lesson4.zip, unzip the download zip file m2-lesson4.zip, you will see a folder called m2- lesson4 . Step 3: Connect mega2560 board to PC with USB cable, Open Arduino IDE -> click file ->...
  • Page 40 Step 4: Choose corresponding board/port for your project,upload the sketch to the board. Mobile APP: Go to your Google Play or Apple APP store and search APP name “OSOYOO imitation driving”, Download the APP as following and install it in your smart phone.
  • Page 41 Power on the robot, and open APP. 1) If you have not paired Bluetooth module with your cell phone, please pair the bluetooth module first before open the APP. In your cell phone Setting-> Bluetooth ,find a Bluetooth device called HC02, pair it with password 1234 2) After bluetooth HC02 device is paired, open the APP.
  • Page 42 To adjust the motor power value, you need change the 3 constants line 27,28,29 in mecanum- 2560-lesson4.ino sketch file: #define MIN_SPEED 50 #define TURN_SPEED 70 #define SLOW_TURN_SPEED 50 #define BACK_SPEED 60 MIN_SPEED is the minimum power required to start the car. If when APP engine toggle is switched to RED, but your car does not move, you need increase this value , if the car runs too fast at engine start moment, you need reduce this value.

  • Page 43: Lesson 5 Wifi Controlled Robot Car

    In this project we will connect Robot Car to Wifi and Use an APP to control the car through Internet. This is a typical Internet of Things (IoT) Application. OSOYOO Mecanum wheels robotic car chassis x 1 (2x left-wheels/2x right-wheels and Motor x 4) OSOYOO Mega2560 board fully compatible with Arduino x 1...
  • Page 44 Download Arduino IDE here: Open-source Arduino https://www.arduino.cc/en/Main/Software?setlang=en Software(IDE) 7 zip is a free zip Download 7zip here for free utility that un-zips https://www.7-zip.org/ zip files Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please skip this step).
  • Page 45 Step 3: APP installation-you need search “OSOYOO Wifi UDP Robot Car Controller ” in Google Play or Apple Store, and then install this APP. DOWNLOAD APP FROM https://osoyoo.com/driver/arduino-udp/udp-robot.apk - 42 -...
  • Page 46 YOU CAN ALSO DOWNLOAD APP DIRECTLY FROM https://osoyoo.com/driver/arduino-udp/udp-robot.apk Step 4: Arduino Sketch code Installation: Downloadhttps://osoyoo.com/driver/mecanum_metal_chassis_m2/m2-lesson5.zip Unzip the downloaded file, enter the m2-lesson5 folder, you will see two sub-folder : m2- lesson5A and m2-lesson5B.These two folders have program for two Wifi modes: AP mode and STA mode.
  • Page 47 (2) Open your Arduino Serial monitor, and you will see a similar result as AP mode. A new Wifi SSID “osoyoo_robot” with IP address 192.168.4.1 will show up in the window. This means your Robot car has a Wifi Hot Spot name “osoyoo_robot” , its IP address is 192.168.4.1 - 44 -...
  • Page 48 (3) Now your Robot car become a Wifi Hot Spot and set IP address as “192.168.4.1” to your APP Setting section. Port number keep default value 8888. (4) Connect your cell phone to “osoyoo robot” Wifi hotspot, you can use Mobile phone control the robot car.
  • Page 49 (5)You can click the ◄ ► ▲ ▼ direction keys to make the car move. Use “||” pause key to stop the car movement. Click Obstacle to shift left side, Click Tracking to shift right side. Click F1 to make upper-left diagonal movement, Click F3 to make upper-right diagonal movement.
  • Page 50 (2) You need change the code Line 180 and Line 181 : char ssid[] = “YOUR_ROUTER_SSID”; // replace this with your router wifi SSID char pass[] = “YOUR_ROUTER_WIFI_PASSWORD”; // replace with your wifi password - 47 -...
  • Page 51 (3) Upload the sketch to Arduino. click the Serial monitor window in upper right corner of Arduino IDE, you will see following result: - 48 -...
  • Page 52 (4) In this mode, your will see an IP address which is our LAN IP address assigned by my router. Please write down this IP address and click Setting to set up robot IP address and set this IP address to your APP Setting section (no need change default port 80 in APP). - 49 -...
  • Page 53 (5)Now your Robot car is connected to your LAN, you can use Mobile phone under same LAN to control the robot car. If your APP is in WAN, you need to go to your Router Control Panel, forward Port 80 to Robot car LAN IP address, then you can use Router IP to control the car.
  • Page 54 TURN_SPEED value determines turning speed SHIFT_SPEED value determines parallel shifting speed Q2)What happened when you press buttons in OSOYOO WiFi UDP Robot Car APP ? A: When you press a button of the APP, APP will send a single-letter message through UDP...
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