This is a robot that utilizes four omni-wheels to vector it in any direction.� By changing the speeds and directions of the motors the robot can drive in any direction without needing to turn.� This makes it very useful for navigating around the house.� It works on any indoor surface or outdoors in short grass, pavement, concrete, etc.� Below are the links to different parts you can add onto the robot platform to customize it to your needs.� To see a video of this robot in action follow this link to the bottom of the page

The motor housing connects the motor to the base platform via pre-drilled holes.� There are two sizes of motor housings, the larger one fits on the large rectangular platform.� The standard housing fits on both the large and standard platform.� (The larger motor housing will only fit on the smaller rectangular base in the 45 degree position, if you plan to put the motors perpendicular (for standard straight driving) the larger motor housings not fit in the smaller rectangular base.)

	24VDC 195 RPM Gear Motor (~7.5kg-cm stall Torque)
	24VDC 190 RPM Gear Motor (~35kg-cm stall Torque)
	24VDC� 252 RPM Gear Motor (~75kg-cm stall Torque)
	Standard Motor Housing (for 7.5 & 35kg-cm stall torque motors)
	Large Motor Housing (for 75kg-cm stall torque motors)

We offer different speed controllers.� The Magnevation dual channel speed controller and the Devantech dual channel MD22 speed controller.� Both have features that may make one more desirable than the other.� Both work great with these robots.� The Magnevation controller comes in two different styles.� See our speed controller comparison page to help you make your decision.�

For the ATR robots, two motors will be hooked to one channel (i.e. both the left motors to one channel of the speed controller, both the right motors to the other channel).� For the ~75kg-cm stall Torque motor, you should only use the MD22, with two motors pulling on one channel the Magnevation PWM will be overloaded most of the time.��We also carry the Devantech MD03 speed controller for very heavy current draws (it is only a single channel controller, so you will need two (one per side if using it with an ATR).

The main thing to note is both of these controllers are 2 channel controllers, since the Quad-Vector Robot has four (4) motors that must operate independently you will need two (2) speed controllers.� In parallel with selecting the motor controller, you will want to decide on the controller and controller interface options you'll want too.�

	Devantech MD22 Speed Controller (dual channel)
	Devantech MD03 Speed Controller (single channel)

The controller is the brain of the robot.� Many different controllers can be used with these robot kits.�

• Using the MD22 motor controller you can use an OOPic II, II+ or OOPic-R and control the motors various ways (PWM, I2C, servo pulse).� You can also use the RF04 CM04 combo to supply an RF link to your computer and have the computer control the robot.
• Using the Magnevation motor controllers�you can use any PIC such as (an OOPic II, II+ or OOPic-R) device that outputs a PWM (0-5V) signal and digital I/O for direction and brakes.�

	The RF04 and CM02 900MHz Transceiver Set is great for linking your MD22s and other I2C devices to your computer wirelessly.� You can then write a program in visual basic or C to control and monitor your robot.� We have a sample program written in VB6 that controls the MD22. �If you use this controller use the MD22 speed controller, not the Magnevation controllers.
4-Channel

If you're familiar with our popular Trekker Robot kits, one thing to consider is you can use an OOPic II/II+ with and OOPic II Expansion board, or an OOPic-R with an OOPic-R Expansion board and drive the MD22s using the servo outputs or I2C and you get all the great features of the expansion boards and your robot will be just like a Trekker only bigger!� You can add all the sensors, etc that the expansion boards support and most of the programs for the Trekker will be applicable.� See our controller hook up page for more details.� These kits also provide you with battery trays for your controller power.

	OOPic II Expansion Board
	OOPic-R Expansion Board

24V is too much voltage for the PIC controllers, plus its best to have the instruments and controls on a separate source than the motors.� You can use either a 9.6V battery or a 7.2V battery. The OOPic controller or our expansion boards will regulate it to 5V.� The regulator typically needs at least 6V.� Either battery will go for a very long time depending on how many extra sensors are being used.� Again, the batteries we sell are NiMH batteries, so they won't form a memory and will last a long time.�� We recommend you get the connectors with them so you can easily unplug them and charge them or swap them out with a second set.� If you are going to use an expansion board, they come with battery holders, or you may prefer the battery packs.� We sell single AA NiMH batteries for the expansion board battery trays.

We sell plain old transformers for chargers or you can get our automatic peak battery charger.� The peak charger will monitor you battery as it's being charged and shut off when it has reached it's peak charge.� These chargers are close to $200 when bought elsewhere, but we have developed our own charger that does the same thing at less than 1/2 the price.� You can also use a standard transformer and manually disconnect it when the battery has been charged, but you run the risk of destroying your batteries if you forget to take them off the charger.

Finally, you will need some wire, fuses, and switches.� The kit we sell is simple and will allow you to turn you robot on and off and protect everything with fuses.

Electrical Power Hookup Kit
	Electric Power Hookup Kit
Drive/Power Batteries
	12V 2200 mAHr NiMH Battery
	24V 2200 mAHr NiMH Battery
	12V 4500 mAHr NiMH Battery
	24V 4500 mAHr NiMH Battery
Controller Batteries
	7.2V 2200 mAHr NiMH Battery
	9.6V 1500 mAHr NiMH Battery
	AA batteries for Expansion boards
	8 AA batteries and charger kit for Expansion boards
Battery Chargers
	9V 1000mA Transformer for 7.2V and 9.6V batteries
	Standard Battery Charger (14V) for 12V batteries
	Standard Battery Charger (24V) for 24V batteries
HiTec Battery Chargers
	100W Switching Power Supply

Electric noise is one of the most frustrating issues when working on robots with DC motors.� The EMF coming from the motors will reek havoc on the microcontrollers, any RF equipment, or other sensitive electronic equipment.� We recommend you use the following kits to wire your motors.� These kits will provide the wiring from the speed/motor controller to the motors.� You will need one kit per motor.� Follow this link for more information on how to hook up the motors.

�Electric Motor Hookup Kits

You need to be able to hookup the controllers (OOPic or RF link) to the speed controllers (Magnevation controller or MD22).� There are many ways this can be accomplished.� For selecting the best method for your application, see our motor controller page.

	�40 Pin Ribbon Cable (double ended)
	�40 Pin Single Ended Ribbon Cable Hookup Kit
	�Molex Friction Lock Connector Assortment
	�Molex non-directional Connector Assortment

This is an enclosure that acts as a Faraday cage helping to protect it from electronic noise.� With an optional fan it can also be used to help keep your controller cool.� It also protects your controller from physical harm.� This isn't typically a mandatory part, but just adds further protection.� It can always be added later if you find out you need it.� We like putting our motor controllers in them to help isolate electric noise and provide forced cooling on the electronics.

	�Controller Cooling and Noise Suppression: 4"x2 1/4"x2 1/4"
	�Controller Cooling and Noise Suppression: 5"x2 1/4"x2 1/4"

It includes nuts, bolts washers, nylon spacers (for isolating your electronics and controller boards), cable ties, and cable hold downs.

	Hardware Package (mounts most components to the base robot base).
	All-Thread hardware kit (used to support/space out the platforms if multiple platforms are used.
	Servo Standoff Hardware Package (used to mount servos onto the base of the robot).

In order to make your robot autonomous, you will need to add sensors.� You can always add sensors later.� Be sure to use sensors that are best suited for the micro controller you have selected.� If you are using an OOPic, all are sensors can be bused on the controller with a little wiring.��We recommend using one of our expansion boards as discussed above, then all the Trekker sensors and LCDs, etc will plug directly into the expansion board.�� If you are using the RF04 CM02 Telemetry kit, you should only use sensors that are I2C, such as our SRF08 ultrasonic sensors.

�LCDs

Nothing is better than a wireless camera to see what your robot sees.� We have a large variety of wireless camera including pan and tilt systems.

�Wireless Cameras