Model：MicroROS
Processor：STM32F103RCT6+ESP32-S3-WROOM-1U-N4R2
ROS master control：PC virtual machine (Ubuntu22.04+Humble)
Control method：Mobile phone APP, mouse and keyboard, PC virtual machine, USB wireless handle (Optional)
Programming language：C language、Python
Program download：Serial port、ST-Link
Motor solution：520 encoder DC reduction motor*2
Encoder type：AB phase incremental Hall encoder
Gear set reduction ratio：1:30
Motor speed：333±10rpm
Number of magnetic ring lines：11 wire
Input：T-mini PLUS lidar, ROS-WiFi camera module (only for AI vision version), motor with encoder, 6-axis IMU, ultrasonic, button
Output：Motor, OLED display, buzzer
Communication：microROS wireless communication、USART、I2C、SPI
Reserved interface：USART、I2C、SPI、Sensor expansion interface
Battery protection：Over-charge protection, over-current protection, over- discharge protection, short-circuit protection
Battery working time：About 20 hours (self-balancing and static)
Power supply method：2200mAh battery pack (DC5521 elbow discharge port, DC4017 charging port)
Charging method：12.6V-2A power adapter (DC4017 port)
Car body material：Metal+PCB+acrylic
Size：SLAM standard version: 194mm*84mm*127.59mm
Weight：SLAM standard version: 1023.5g