Motors

Cacic is a four wheeled robot, but it has only two motors, one for each side. A drive belt transfer the rotation to the wheels.
_images/wheelsp3at.png

[Hot] Wheels

Cacic has two types of wheels, off road and indoor. The first one is for outdoor enviroment and rough terrains:
_images/offroad.png

and the second is for flat surfaces/floors:

_images/indoor.jpg

Odometry

Odometry is the use of data from motion sensors to estimate change in position over time. Cacic and others Pioneer-3AT has in its motors sensors (position encoders) that senses the rotation velocity then the microcontroller? or p2os? integrates this data and estimates the robot’s pose relative to a starting location.