Build Instructions

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• 1

  FINALIZING COMPONENTS REQUIRED

  • PlutoX
  • 3D printed wheels and motor support
  • 400 rpm brushed motors
  • 600 mAh batteries
• 2

  GETTING THE HARDWARE READY

  In this project I decided to use PlutoX drone due to it’s hardware modularity. Adding most structure is easier. For my project I needed something that will hold the wheels so that I    can use my drone as a rover.

  Using this wheel support I can easily clip the motors for rover onto the frame
  

• 3

  GETTING THE SOFTWARE READY

  • If the PlutoX is DISARMED (i.e in the Rover mode)

  • Check if it is Auto-Stabilized or not (AutoStablization helps the rover to maintain the direction with the help of Magnetometer )
  • If it is Auto-Stabilized, indicate by turning on the Left LED, get the heading from Yaw angle.
  • If not Auto-Stabilized, indicate by turning on the Right LED
  • Get the RC input and perform error correction(Error correction - only if Auto-Stabilized)
  • Set the direction and PWM input for motor M2 and M3
  • Motor Direction

  • Forward - M2 and M3 both forward
  • Reverse  - M2 and M3 both reverse
  • Right - M2 forward, M3 reverse
  • Left - M2 reverse, M3 forward

  • If the PlutoX is Armed it operates in Drone mode

  Auto-Stabilization - Using smaller wheels in rover mode sometimes becomes a disadvantage as it gets difficult for the drone to move in a straight line/forward direction.

  Auto-Stabilization uses the data from drones magnetometer and gets the yaw angle. Using this we can move the rover in straight line.

  Github Link
  

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