Design
The OpenOdometry module design is based around being compact, durable, simple, accurate, easy to assemble, and affordable. The OpenOdometry module utilizes an ultra-compact 35mm double omni wheel driving the accurate REV Through Bore Encoder with 2 mounting/bearing plates set apart by 4 M4 standoffs for durability.
Compact: Featuring a unique "sunk wheel" design, the compact 35mm omni wheel is partially counterbored into the encoder plate. This wheel counterbore is only possible due to the extended and elevated mounting arms of the REV Encoder.
Durable: 5mm 3D-printed plates with 4 standoffs are used to ensure that the OpenOdometry module can survive collisions and will not warp overtime. The REV Through Bore Encoder is a magnetic encoder, meaning it is able to withstand much dustier environments and higher radial load compared to optical encoders.
Simple: The 3D-printed parts have been refined to minimize support usage during the print and the amount of parts has been reduced.
Accurate: With a fully constrained omni wheel axle, rigid plates, and secured hinge bearings, you can be ensured that the position of the omni wheel is constant, increasing odometry localization accuracy.
Easy to Assemble: With a small part count and only a 2.5mm hex driver needed to assemble the module, the OpenOdometry module can be assembled in under 20 minutes. Again the REV Through Bore Encoder simplifies the assembly process, as optical encoders such as the E8T encoders require a clean environment to be assembled without damage.
Affordable: Unlike other odometry designs, such as Gluten Free 11115's odometry pod that use the more expensive S4T encoder, the OpenOdometry uses the REV Through Bore encoder which is much more affordable and less likely to have to be replaced due to damage during the season.
Durable: 5mm 3D-printed plates with 4 standoffs are used to ensure that the OpenOdometry module can survive collisions and will not warp overtime. The REV Through Bore Encoder is a magnetic encoder, meaning it is able to withstand much dustier environments and higher radial load compared to optical encoders.
Simple: The 3D-printed parts have been refined to minimize support usage during the print and the amount of parts has been reduced.
Accurate: With a fully constrained omni wheel axle, rigid plates, and secured hinge bearings, you can be ensured that the position of the omni wheel is constant, increasing odometry localization accuracy.
Easy to Assemble: With a small part count and only a 2.5mm hex driver needed to assemble the module, the OpenOdometry module can be assembled in under 20 minutes. Again the REV Through Bore Encoder simplifies the assembly process, as optical encoders such as the E8T encoders require a clean environment to be assembled without damage.
Affordable: Unlike other odometry designs, such as Gluten Free 11115's odometry pod that use the more expensive S4T encoder, the OpenOdometry uses the REV Through Bore encoder which is much more affordable and less likely to have to be replaced due to damage during the season.