Lucky (In Progress)

Inverse kinematics + motion profiled PIDs demo.

Lucky performing actions on voice command for my AP Lit project (imitating Lucky from Waiting for Godot).

Currently working on improving balancing code so I can remove Lucky's training wheels.

Test circuit. Lucky is controlled by a PC communicating to ESP32 with UDP, and then the ESP32 communicating with the main Teensy microcontroler via UART.

PCB on the robot.

Parts for Lucky manufactured in house.

CAD in Onshape.

PCB design in KiCad. Includes slots for sensors, encoders, motor driver signals, etc.

PCB layout.

PCB schematic.