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The code explains how to code an Arduino to run a Square Chassis with 4 Mechanum Wheels in all directions.

The system comprises of the following:

1. Arduino Mega 2560
2. Mechanum Wheels with an angle of 45 Degrees between the rollers
3. Cytron Motor Drivers

The PCB Layout of the various components and their positioning is attached in the 'SPRAC.pdf'. If you observe, I have made provisioning for +5V and GND for the Motor Driver Pins.

The Cytron Motor Driver DIR+ and DIR- is responsible for changing the direction of rotation of the motors.

The Layout is shown below:

The PCB makes the provision for all four motors and their respective motor drivers. Also included are the extra +5V and GND pins.

If you loved what you read here and feel like we can collaborate to produce some exciting stuff, or if you just want to shoot a question, please feel free to connect with me onLinkedIn