What follows are preliminary notes during the build of the KRZ03, a Mecanum-wheeled robot.

It uses parts from the KRZ01 and KRZ02 robots and therefore supercedes (replaces) them. The most recent version is using a Raspberry Pi Zero 2 W, a Pimoroni Motor 2040 and TinyFX (for LEDs and sound effects).

The KRZ03 robot

This photo shows an earlier version using a pair of PiconZero motor controllers that were used on the KRZ02, connected with a Mini Black Hat Hack3r. After contacting 4Tronix, they sent a customised Picon Zero that uses a different I2C address so that it's possible to use two on this robot without bus contention. A simpler alternative would have been to use the PiBorg ZeroBorg Motor Controller, which has four motor controllers as well as a 1.5A regulated power supply.

Earlier version of the KRZ03 robot

The Raspberry Pi GPIO Pinout (courtesy pinout.xyz)