Hardware

Chassis

The robot uses the ATV 4WD multi-chassis from Sparkfun; a top plate was scrounged from a second kit to make room for the battery and Jetson.

  • Costs: $66.90 ($44.95 for the ATV chassis kit, $21.95 for the basic chassis kit)

Jetson Nano

The Jetson Nano is the brains of the robot.

  • Cost: $99.00

LIDAR-Lite v3

This is currently being used for obstacle avoidance, but should get a servo to support scanning for mapping.

  • I2C address: 0x62
  • Manual
  • Cost: $129.99

DC & Stepper Motor Hat

This is an I2C 4-motor controller purchased from Adafruit. The I2C address can be changed so multiple controllers can be stacked.

  • I2C address: 0x60; 0x70 will cause all stacked hats to respond.
  • Documentation
  • Cost: $22.50

MPU-9250 breakout

The MPU-9250 is an I2C 9 degree-of-freedom IMU from Sparkfun.

Anker PowerCore 10000

This is a 10Ah battery that provides 2.4A output at 5V. I’d like a larger battery, but fitting a USB battery pack on the chassis has proven difficult. It’s nice having built-in charging functions though, and a standard power interface.

  • Cost: $24.99

Miscellaneous other hardware

It’s not often mentioned, but in the interest of anyone reading this trying to find other parts: I used a bunch of other small mechanical parts, like a box of M2.5 brass and nylon standoffs (e.g. this) and jumper wire sets from Sparkfun. Twist and zip ties are useful for strapping things down and keeping things out of the way.