The Fusion 360 model: two lattice wheels, a coaxial shaft, three bevel gears, a motor, a bearing housing and an electronics bay. Every part was 3D printed.
The motor drives one bevel gear meshed between two facing gears, so they spin in opposite directions. Coaxial shafts carry each one to its own wheel.
A custom carrier board for an STM32 Blue Pill, with a BLE module, motor driver, buck converter and two LED channels.
STAGE 02
Take the controls
On the real wheel, speed and lighting are set over Bluetooth.
