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Building Momo

A no-solder build, from the chassis to the first power test.

For robot ownersMomo90 min

Preparation

  1. 1

    Work on a clean desk with a tray for screws and small parts.

  2. 2

    The battery goes in at the very last step.

Mechanics

  1. 1

    Mount both motors on the aluminium chassis, then the wheels and the caster.

  2. 2

    Fit the PCB on its spacers; the ESP32 and the TB6612FNG driver are already on it.

  3. 3

    Plug the left and right motor cables into the labelled motor ports.

Sensors and outputs

  1. 1

    Mount the 5-in-1 line array at the front underside, 3 to 8 mm above the floor.

  2. 2

    Mount the servo, then seat the HC-SR04 on it facing forward.

  3. 3

    Plug the OLED, the AHT10, and the microphone into the labelled I2C and analog ports.

Note: Keyed connectors only fit one way. Do not force them.

Power and first test

  1. 1

    With the switch off, fit the 2S battery pack.

  2. 2

    Lift Momo off the desk, switch it on, and run the built-in test program.

  3. 3

    Check: the OLED lights up, both wheels turn, and the sensors read the line.

Note: The order may differ slightly between PCB revisions.