Electronics

The electronics of the original platform are completely revised in this work. The original Discovery Q2 has some drawbacks that hinder its usage for robotics Research & Development (R&D):

• no computing unit to allow the usage of the Robot Operating System (ROS) with the robot
• no wheeled odometry data available to the user
• no interface with the original motor drivers board to allow modifications on the internal closed-loop speed control of the wheels / linear and angular velocity control of the robot
• only a 5V @ 5A DC external output for the user (limiting the possibilities of powering multiple sensors such as 2D/3D LiDAR)
• does not support natively 3D LiDAR or RGBD cameras

As a result, this work completely over overhauls the original electronics, only leaving the Faulhaber 2342 motors present in the original Hangfa Discovery Q2 platform.

Overview