Haven’t done work in a long time, since school started, but I have a few hours of timelapses and I think I should add to the journal.

Basically, I’ve just been working on the PCB, and doing some research, trying to find parts that fit the budget. I think I did a pretty good job, but there are still a few costs that I haven’t accounted for, so I might be in for a surprise later down the line.

Anyways, the PCB is pretty much done, so here are the parts:

• an orientation sensor
• 2x motor drivers(2 channels)
• 3x motors
• battery
• USB-C charger
• Raspberry Pi Pico 2W

I haven’t designed the physical PCB yet, and I still have to figure out the width of the copper paths, since I am working with higher currents.

After I got the basic shape of the PCB down, I started with CAD. I quickly stopped, because the motors seemed too long to fit on the 90mm ball I chose, but, since the angle was 45 degrees, I can just design it so the omniwheel has a 30 degree angle of contact with the ball.

That’s kind of it, but I’ll try to get this project into a presentable form, in order to hopefully get it approved before the deadline.