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20. Project development

In this page I’ll the document the Project development progress.



CoffeeBot is a Robot for Coffee Delivery in a coffee shop. This robot will help the barista to focus in making good coffee and the robot will deliver the coffee to the customer. Also this robot will help to keep the social distance during COVID-19 pandemic.


Items Qty Cost
RPLIDAR A1M8-R6 - 360 Degree Laser Scanner 1 $99.00
36V 350W Hub Motor Wheel with Tire 2 $32.29
Brushless Motor Controller 2 $14.28
7 Inch Full View LCD IPS Touch Screen 1 $48.76
Universal Swivel 50mm 2 $2.83
12V Battery 3

3D Design

Download 3D Models

To speedup the design process I have started downloading 3d modules for the components of the project

Design and Assembly

Here is a initial 3d skitch for the CoffeeBot image

Here is the dimensions for the Motor Wheel image

I have designed the motor bracket to hold the motor wheel


In Electronics Design week I have designed a custom microcontroller board for this project image

In Embedded programming week I programed the microcontroller and test it

New Motor Controller

To avoid using Jumper wires I decided to to design new a new motor controller.

For to designing the the motor controller I update my microcontroller design which I designed in Electronics Design week using EasyEDA

I Started the design with the schematic and BOM

Export the schematic to PCB and make the route manually

Set the Design Rule and run DRC tools to check for any error

For the best quality Export the design to 2 PDF files one for traces and one for outline and holes

  • Traces Export:

  • Outline Export

open the PDF file with Inkscape software and save it as SVG file

For the Outline edit the file with Inkscape and fill the inside the white color. To do that change the Threshold to 100. then save the file as SVG

Here are the Two SVG files

Upload the files to fab modules and create the G-code.

Start with Traces file and apply the following Setting

Upload Outline SVG file and generate G code with the following setting Upload the Outline and apply the following setting


In Input devices week I have tested the RPLIDAR sensor which is the 2D 360 laser scanner for mapping and navigation.



In Output devices week I have tested the Motor Wheel and make sure I can control the speed and direction. image


for this project I’ll use ROS


  • Install ROS Serial Library in Arduino IDE image

ROS Navigation

In order to complete this project I need to learn more about ROS Navigation. Here are some useful tutorial.


Building a ROS Robot

ROS requirements In order to do Navigate by ROS you need to provide the Following data:

  • Laser Data
  • Odem Data

ROS Transforms

we need to provide Laser sensor location in the robot in order to generate map

ROS Launch ROS Launch file has all the parameters and nodes which are require to preform this task.

To create Launcher file run the following commands

Last update: June 16, 2021