Introduction: ZigBot Phase 1

By Follow my bilibili：陳亮手痕定律
About: Make it yourself if you cannot buy one ;)

This Instructables shows how to use XIAO dev board start building a tiny robot.

Supplies

(Since all the XIAO dev board share same form factor, you can replace with any version of XIAO in your hand)

  • DC 3V 6mm Gearbox Coreless Motor (1200 RPM option)
  • 501230 Lipo Battery
  • Two 8mm Nylon/Steel Balls

Step 1: What Is XIAO ESP32C6?

XIAO is Seeed Studio Series product of tiny dev board. ESP32C6 is one of the Espressif's MCU that support 2.4GHz Wi-Fi 6, BLE 5.0, Zigbee and Thread.

Ref.:

https://www.seeedstudio.com/Seeed-Studio-XIAO-ESP32C6-p-5884.html

Step 2: What Is ZigBot?

I would like to build a robot that communicates with ZigBee, I will call it ZigBot.

Step 3: Chassis Design

Many STEAM robot use 2 motors and 1 universal/caster wheel in the chassis, And in most case 2 wheels are coaxial, but it is not the only design.

In my previous instructables:

  • https://www.instructables.com/Robust-Remote-Toy-Car/
  • https://www.instructables.com/TTGO-T-Watch-Robot/

In order to reduce chassis size, the motor wheels are not in the same axis. Both motor wheels paired with a caster wheel also can works fine.

ZigBot is the 3rd iteration of this chassis design and this is the smallest implementation.

Step 4: 3D Printing

Please download and 3D print the parts at Thingiverse:

https://www.thingiverse.com/thing:6596155

Step 5: Soldering Work

This tiny high ratio gear motor rated at around 20 mA if not stalled, so I decide ZigBot abused the ESP32C6 GPIO direct drive the gear motors. So the required components are reduced and the soldering work is relatively simple.

Here are the connection summary:

XIAO
====
BAT+    ->  Lipo battery +ve
BAT-    ->  Lipo battery -ve
D4, D5  ->  Left motor
D8, D9  ->  Right motor

Step 6: Assembly

Please follow the above video for assembly.

Step 7: Software Preparation

Currently only Development release support ESP32C6, please follow the arduino-esp32 installation guide to install Development release:

https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html


Step 8: Test Run

Please download the test run source at GitHub and open with Arduino IDE:

https://github.com/moononournation/XIAO_ESP32C6/tree/main/TestZigbot

The test run program just test the forward, backward and turning function and then will enter deep sleep.

I will further develop the ZigBot once Arduino-esp32 provide more ZigBee feature.

Note:

The battery power saving feature of XIAO ESP32C6 in deep sleep mode is really good, I can still run the test run by pressing reset button after a week!!

Step 9: What's Next?

This instructables is the first phase of building ZigBot, I am still exploring how ZigBee can communicate between multiple ZiBot and make interaction. Follow my Twitter (X.com) for latest news.