SERPICO

Studying Electronics and Robotics with PICO, is a project of Robot based on Raspberry PI Pico board. This code use two PWM Slice, both channels for each slice, one of which with inverted logic, are used to control a DRV8833 that drives the two DC motors.

Robot Car Chassis Kit

I used to make the Robot, one of those kits that can be found for a few euro on almost all online stores. The kit contains everything you need, the base, the motors, the wheels and the wheel. I added a top made with PVC to house the battery in the lower floor, but other solutions can be found in this regard.

Power

For the power supply of the Robot I used a power bank with two outputs, one of which is connected to the Raspberry PI PICO, via the micro USB connector. For the other output, I used an old USB cable that I connected directly to the breadboard, to supply the 5V voltage to the motor driver. NOTE: I suggest to use for the power supply of the motors, a power bank that provides more than 1A at the output.

Circuit

To simplify as much as possible, the realization of the Robot, the circuit is mounted on a bread-board. In the image below you can see the assebly schema.

In the next table the connection between PICO and DRV8833:

PICO GPIO	DRV8833
GPIO 0	IN2
GPIO 1	IN1
GPIO 2	IN4
GPIO 3	IN3

Other connection of DRV33:

DRV8833	Motors	USB Power Bank
VCC		USB 5V Power
GND		USB Power GND
OUT 1	Right Motor
OUT 2	Right Motor
OUT 3	Left Motor
OUT 4	Left Motor

Connection between HC-SR04 and PICO:

HC-SR04	Direction	PICO GPIO	USB Power Bank
Trigger	<	GPIO 4	-
Echo	>	GPIO 5 (*)	-
VCC	-	-	USB 5V Power
GND	-	-	USB Power GND

How to compile

Simply follow this istructions:

$ git clone https://github.com/bobboteck/SERPICO.git
$ cd SERPICO
$ mkdir build
$ cd build
$ PICO_SDK_PATH=~/pico/pico-sdk/
$ cmake ..
$ make

The PICO_SDK_PATH is the path where you have cloned the SDK, if you followed the official guide the path in the example is correct.