Yellowjacket

Yellowjacket is one of my favorite robot designs to date. The 3D printed chassis houses two quad encoder 12V motors for diff drive which are driven by an Arduino Nano and a TB6612FNG. A Raspberry Pi 5 is the brain, Running Ubuntu 24.04 and ROS2 Jazzy. Onboard she has a depth camera and RPLidar, and I hope to add an IMU soon. She's powered off 3 18650 3300mAh batteries. Right now, I have joystick teleop, SLAM, and Nav2 working ok, but needs tuning yet. I just started experiments with the camera and CV2 (just with RGB, I haven't activated the depth yet). A couple of issues I'd like to solve would be a way to easily power from an external source instead of batteries, maybe a jack or something (it's pretty hard to get to the Pi in the chassis to plug in an adaptor). I'm afraid of accidentally turning on the battery power while it is plugged in, so I'll have to work that out. I'd also love to add a battery charge indicator, but I'm not sure exactly how to wire it up yet. This has been quite an experience, and I'll share more as it comes along. 

JJ