Mini Mars Rover (version 1)

So I've made plenty of differential steering and skid steering bots using HUB-ee wheels but how about something more sophisticated ... This "mini Mars rover" has servo steering and rocker suspension. One problem I hit was the lack of pins on a normal Arduino™, you need three to control each wheel and I wanted to use servos for steering - there just aren't enough pins to provide four wheel independent drive and steering so this version is slightly "under actuated". The wheels on each side are driven in sync and have a single servo to steer them. The bot can spin on the spot, and turn in a fairly tight arc, but it can't drive sideways as it could if all the wheels were independent.

Time to start work on a shield for the Arduino™ Mega?...

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