A dataset for a variable diameter spherical robot

The operation of the code requires corresponding library file support, and the library file name has corresponding identification in the code. In terms of hardware, the wireless communication module of the prototype uses nRF24L01, the 3D pose module uses MPU6050, the encoder uses AS5600, and the FOC driver uses DengFOC open-source dual path brushless driver.

The remote control and receiver both use the Arduino NANO development board, while the codes for the forward motor and centering motor use the WEMOS Lolin32 Lite development board, which is used in conjunction with DengFOC. The video file shows the alignment mechanism of the robot prototype and the overall actions such as changing diameter and turning.