"Swerve" Drive Robot

A robot designed with a fake swerve drive. Fake because it does not move 360 degrees, but is limited to the wire length on the wheels. It is easy on printers!


It uses 4 n20 motors, and 4 stepper motors.
For electronics, it has a raspberry pi zero, 4 stepper motor drivers, and 2 H-bridge circuits powering 2 DC motors each.
A micro-USB charging circuit with 2 14500 li-ion batteries in parallel for power, and 2 boost circuits at 5V and 6V.

Here's the code