Omniwheel Base

This base will consist of two section the omniwheel platform and the "cabinet above" which will carry many other features.

Omniwheel Platform
Four omniwheels (Omniwheels)

Four motors (Motor)

Four gearboxes (Gearbox)

Four ecoder feedback mechanisms (the base encoder used for now is the KY-040 Arduino Rotary Encoder)

bottom square plate

Base Cabinet
Electronics (core)

Energy

Power

Materials storage

in out mechanisms

Frame

Top Plate (meshes with the robot arms and the top level)