Elsabot Jeep

The Elsabot Jeep base:

Phase 1

Used PowerWheels Jeep chassis
Existing rear 12V gearbox motors modified with magnets and a Hall sensor for measuring rotational speed
BTS7960 motor drivers
Front steering modified to use PowerWheels steering motor.
Steering shaft cut with encoder mounted to sense steering wheel rotation, and encoder mounted underneath to measure steering rod movement.
GY85 IMU
2-18V Ryobi batteries: 1 for uC and CPU and 1 for powering motors
2-INA226 power monitor ICs
Teensy 4.1 uC
4 port USB hub
Motor power relay controlled by emergency switch, 433 MHz remote controlled relay, and uC
RPLidar A1
2-HCSR04 ultrasonic range sensors (back mounted)
RPi4
DC-to-DC converter for control circuitry
Functionality
- Game controller control
- Driver (kid) control
- ROS Nav2 navigation

Phase 2 (WIP)

Seeed odyssey j4125 CPU
OAK-D camera with and pan and tilt servos
Display panel
USB speaker
Seeed ReSpeaker USB Mic Array
Various DC-to-DC converters
10-port USB hub
GPS
Functionality
- Same as phase 1
- Interactive functionality using Camera AI and voice control (as for previous projects)

Currently using micro-ROS for ROS Humble.

See this project for the ROS2 bring-up scripts and ROS packages used: https://github.com/rshorton/elsabot_jeep

Be sure that your firmware build uses the provided micro-ROS meta configuration file (micro_ros.meta) otherwise startup will fail due to insufficient micro-ROS related resources.

Press and hold the game controller LT button (front left bottom) to use teleop control via controller joysticks. This will also overide navigation control.
Press and hold the game controller LB button (front left top) to enable driver control using accel pedal and steering wheel.
Press the X (slow), A (normal), B (ludicrous) buttons to set the maximum speed for manual control.

YouTube Videos

More pictures