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Wheels: 12 inch cheap simple plastic wheels (perimeter 95.76 cm)

Motors: Nema23 Worm Gearbox L76mm Stepper Motor Speed Reducer+ Stepper Driver CNC Kit from ebay (Gear Ratio: 15:1)

Stepper driver: Sumtor MB450ATwo-phase hybrid stepping motor driver

Wheels.jpg Stepper.jpg

Power: 3x 3S LiPo Turingy 5000 mAh

Control low-level: Arduino Nano Strong

Control high-level: NVidia Jetson TX2

3D models of case for ZED MINI, ultrasonic sensors and stand for batteries created in Fusion 360 available: fusion360_models.zip.