The Charioteer is a control system made for prototyping AVGs (automated guided vehicles) and wheeled robotic platforms. The control box features two brushless DC motor drivers paired with a programmable motion control card and XLR i/o for power and sensor data. Powered by two 36V lithium ion batteries, this platform will drive 2 motorized wheels independently or together, allowing for full control of driving, turning, and spinning a loaded wagon. Three extra inputs per channel are available for sensor and control feedback (encoders, magnetic switches, distance sensors, etc.). The controller runs an ESP32 microprocessor, which can be programmed to suit the specific sensors and situation at hand. Control is via PC app.
The Charioteer’s Software is built in Max, and can be and can be adapted by the end user by modifying the Max patch. The default software is made to drive a two wheeld cart or wagon; simply used the track pad as a joystick, or choose a direction and drag the speed bar.
For a bit of fun: bolt a motor wheel to a platform, decorate platform to taste, and plug in the Charioteer control box. That’s all it takes to set your creation in motion via the handy PC app. In the video below, you can watch the scenic wagon drive itself to its preset location onstage, and then drive to its preset position offstage.