LGDXRobot2 MCU follows a modular design, allowing individual components to be replaced when necessary. For basic safety precautions, it includes an emergency stop button.
The control board features the BlackPill (STM32F411CEU6) microcontroller, which provides a sufficient number of GPIO pins at a reasonable cost. It is equipped with two TB6612FNG motor driver modules to control the four motors, and two INA219 modules are included to monitor the battery voltage. Please note that current sensing is not implemented.
LGDXRobot2 is designed to operate using two 12V batteries: one dedicated to powering the motors and the other for the onboard computer. This separation provides a simple and effective way to prevent damage caused by voltage fluctuations. Users are welcome to integrate a battery protection board or choose a higher-capacity battery according to their requirements.
LGDXRobot2 is compatible with Mecanum wheel chassis of various sizes. Users may select any chassis and wheel dimensions they prefer; however, they must modify the source code — specifically a set of constants — to reflect the chosen configuration.
The recommended motor for this platform is the GM37-520 12V with a 1:90 gear ratio. It is advisable to use motors with at least a 1:90 ratio to ensure that the robot has sufficient torque for reliable operation.
Any computer that supports Ubuntu 24.04 can be used with LGDXRobot2. However, only x86-based PCs, such as Intel NUC devices, have been tested. An Intel RealSense camera can be used for sensing purposes.
The assembly process is straightforward. All components should be connected as specified in the provided schematic. There is no need to fabricate a printed circuit board (PCB), making the construction accessible and convenient.
