4WD Mecanum Robot Kit
Official Kit Verified v1.2.0A complete, production-ready hardware and software stack for building omnidirectional mobile robots. Includes inverse kinematics, PID velocity control, and IMU fusion.
By Senytics Team
Overview
The 4WD Mecanum Robot Kit is the standard reference implementation for omnidirectional mobile robots in the Senytics ecosystem. It provides a pre-tuned motion control stack that handles the complex vector math required for mecanum wheels, allowing you to move in any direction (x, y) and rotate (theta) simultaneously.
This kit is designed to be "plug-and-play" with standard hobbyist hardware but robust enough for research and education. It includes built-in odometry tracking using motor encoders and optional IMU fusion for precise localization.
Bill of Materials (BOM)
Est. Cost: $120 - $180Wiring Diagram
Interactive Wiring Diagram Viewer
Usage Example
#include <SenCore.h>
#include <SenCore_Mecanum.h>
// Define Motor Pins (FL, FR, BL, BR)
MecanumDrive robot(
{12, 13}, {14, 15}, // Front Left, Front Right
{25, 26}, {27, 33} // Back Left, Back Right
);
void setup() {
SenCore.begin();
robot.begin();
// Set PID constants for velocity control
robot.setPID(1.5, 0.02, 0.5);
}
void loop() {
// Move forward at 0.5 m/s
// Strafe right at 0.2 m/s
// Rotate clockwise at 0.1 rad/s
robot.drive(0.5, 0.2, 0.1);
SenCore.update();
}Compatibility
- sencore-core v2.0+
- sencore-motor v1.1+