OatmealBot is a robot built on a circular platform using 3 omni wheels and controlled using a PS3 controller. It's named OatmealBot because it was originally designed so the control hardware could be hidden under a cylindrical box of oatmeal.
This OatmealBot controller is built on top of the Adafruit Motor Hat. This board provides the following features on top of that:
- Powers the Hat and the Pi from a Pololu 5V regulator
- Plug for 4 Pololu motors with quadrature encoder
- Plugs for 3 servos
- 2 high power outputs
- Plug for SPI OLED display
- 2 LED (status & error)
- Plug for FTDI TTL serial to USB adapter
This was initially envisioned using a SAMD21 controller so the motor encoders could be read by hardware counters. However, I couldn't find a good Bluetooth driver that worked. Although I found some existing drivers that could be ported, I realized I could just as well get a Raspberry Pi Zero W with built-in Bluetooth and a motor hat and see how well it works without reading the encoders. Turns out it worked fairly well, so I kept working down this path.