Tafy RDOS Hardware Bill of Materials
This document lists all the hardware components needed to build robots compatible with Tafy RDOS. We provide configurations for different robot types and budgets.
Table of Contents
- Basic Differential Drive Robot
- Advanced Autonomous Robot
- Minimal Test Setup
- Component Details
- Suppliers and Alternatives
- Cost Estimates
Basic Differential Drive Robot
This configuration provides a simple two-wheeled robot with obstacle avoidance.
Required Components
| Component | Quantity | Part Number/Spec | Purpose | Est. Cost |
|---|---|---|---|---|
| Compute Module | 1 | Raspberry Pi 4B (2GB+) | Main computer | $45-75 |
| Microcontroller | 1 | ESP32-WROOM-32 | Motor control & sensors | $5-10 |
| Motors | 2 | DC Gearmotor 6V, 200RPM | Locomotion | $20-30 |
| Motor Driver | 1 | L298N or DRV8833 | Motor control | $5-10 |
| Wheels | 2 | 65mm diameter | Movement | $10-15 |
| Caster Wheel | 1 | Ball caster | Balance | $3-5 |
| Ultrasonic Sensor | 1 | HC-SR04 | Obstacle detection | $3-5 |
| Power Bank | 1 | 10,000mAh USB | Pi power | $15-25 |
| Battery Pack | 1 | 4xAA holder | Motor power | $5-8 |
| Jumper Wires | 1 set | M-F, M-M, F-F | Connections | $5-10 |
| Chassis | 1 | Acrylic/3D printed | Structure | $10-30 |
Total: ~$126-213
Optional Upgrades
| Component | Quantity | Part Number/Spec | Purpose | Est. Cost |
|---|---|---|---|---|
| USB Camera | 1 | Logitech C270 | Vision/color tracking | $25-35 |
| IMU | 1 | MPU6050 | Orientation sensing | $3-5 |
| Encoders | 2 | Optical encoder | Speed feedback | $10-15 |
| RGB LED | 1 | WS2812B strip | Status indication | $5-10 |
Advanced Autonomous Robot
For advanced features like SLAM, computer vision, and multi-sensor fusion.
Core Components
| Component | Quantity | Part Number/Spec | Purpose | Est. Cost |
|---|---|---|---|---|
| Compute Module | 1 | NVIDIA Jetson Nano/Orin | AI processing | $99-499 |
| Microcontroller | 2 | ESP32 + Teensy 4.1 | Real-time control | $25-40 |
| Motors | 2 | DC Motor w/ encoder | Precise control | $40-60 |
| Motor Driver | 1 | RoboClaw 2x7A | Advanced control | $60-80 |
| LiDAR | 1 | RPLiDAR A1 | 360° scanning | $99-150 |
| Camera | 1 | Intel RealSense D435 | Depth sensing | $180-250 |
| ToF Sensors | 4 | VL53L0X | Close-range sensing | $40-60 |
| Battery | 1 | 3S LiPo 5000mAh | Main power | $40-60 |
| Power Management | 1 | Buck converters + BMS | Power distribution | $20-30 |
| Chassis | 1 | Aluminum frame | Robust structure | $50-100 |
Total: ~$653-1,329
Minimal Test Setup
For software development and testing without a physical robot.
| Component | Quantity | Part Number/Spec | Purpose | Est. Cost |
|---|---|---|---|---|
| Raspberry Pi Zero 2 W | 1 | With headers | Compute | $15 |
| ESP32 DevKit | 1 | Any variant | HAL testing | $5 |
| Breadboard | 1 | 830 points | Prototyping | $5 |
| LEDs | 5 | Various colors | Output testing | $2 |
| Resistors | 10 | 220Ω, 10kΩ | LED/pullup | $2 |
| Push Buttons | 3 | Tactile switches | Input testing | $2 |
| Jumper Wires | 1 set | Assorted | Connections | $5 |
| USB Cables | 2 | Micro USB | Power/data | $5 |
Total: ~$41
Component Details
Compute Modules
Raspberry Pi 4B
- Why: Best balance of performance, cost, and community support
- Specs: Quad-core ARM, 2-8GB RAM, WiFi, Ethernet
- OS: Raspberry Pi OS or Ubuntu Server
- Notes: Use heatsink for sustained loads
NVIDIA Jetson
- Why: GPU acceleration for AI/vision tasks
- Options:
- Nano: Entry-level, good for learning
- Xavier NX: Better performance
- Orin: Latest, best performance
- Notes: Higher power consumption, needs cooling
Microcontrollers
ESP32
- Why: WiFi built-in, dual-core, affordable
- Best for: Motor control, sensor reading, WiFi communication
- Variants:
- WROOM-32: Basic module
- CAM: Includes camera
- S3: More GPIO, USB
Alternatives
- Arduino Mega: More I/O, no WiFi
- Teensy 4.x: Very fast, good for real-time
- STM32: Professional grade, complex
Motors
DC Gearmotors
- Voltage: 6V typical (3-12V range)
- RPM: 100-300 for robots
- Torque: 2-5 kg·cm minimum
- Encoders: Recommended for precise control
Motor Drivers
- L298N: Classic, handles 2A per motor
- DRV8833: Smaller, more efficient
- RoboClaw: Advanced features, position control
Sensors
Distance Sensing
- HC-SR04: Ultrasonic, 2-400cm range
- VL53L0X: ToF laser, 0-200cm, more accurate
- Sharp IR: Analog output, 10-80cm
Vision
- USB Cameras: Any UVC-compatible
- Pi Camera: Direct CSI connection
- Intel RealSense: Depth + RGB
Power
Batteries
- AA/18650: Easy to find, safe
- LiPo: High capacity, needs care
- Power Banks: Convenient for Pi
Power Distribution
- 5V for Pi: Buck converter or power bank
- Motor voltage: Separate battery recommended
- Logic level: 3.3V for ESP32, Pi GPIO
Suppliers and Alternatives
Online Retailers
- Adafruit: Quality parts, good docs
- SparkFun: Similar to Adafruit
- Amazon: Fast shipping, varies quality
- AliExpress: Cheapest, slow shipping
- Pololu: Robotics specialty
Local Options
- Electronics stores (Fry's, Micro Center)
- Hobby shops (RC parts)
- Makerspaces often sell basics
Budget Alternatives
| Original | Budget Alternative | Notes |
|---|---|---|
| Raspberry Pi 4 | Orange Pi, Rock Pi | Check OS support |
| ESP32 DevKit | NodeMCU ESP8266 | Less capable |
| L298N | 2x L9110S | Lower current |
| HC-SR04 | HC-SR04P | 3.3V compatible |
| LiPo battery | 6xAA pack | Heavier, safer |
Cost Estimates
By Budget
Student/Hobby ($50-100)
- Raspberry Pi Zero 2 W
- ESP32
- 2x cheap motors
- L298N driver
- HC-SR04
- Cardboard chassis
- USB power bank
Educator/Maker ($100-250)
- Raspberry Pi 4
- Quality motors with encoders
- Multiple sensors
- 3D printed chassis
- Proper battery system
Research/Commercial ($250+)
- Jetson or powerful compute
- Industrial motors
- Advanced sensors
- Aluminum chassis
- Professional power system
Assembly Notes
Tools Required
- Screwdriver set
- Soldering iron (optional)
- Hot glue gun
- Wire strippers
- Multimeter (recommended)
Safety
- Always disconnect power when wiring
- Use proper battery handling for LiPo
- Add fuses for motor power
- Include emergency stop button
Next Steps
- Choose your budget and use case
- Order components (allow 2-4 weeks for shipping)
- See WIRING_DIAGRAMS.md for connections
- Follow ASSEMBLY_GUIDE.md for build instructions
- Use QUICKSTART.md for software setup
Community Builds
Share your build at:
- Discord: tafy.studio/discord
- Forum: forum.tafy.studio
- Gallery: Tag #TafyRobot on social media
FAQ
Q: Can I use Arduino instead of ESP32? A: Yes, but you'll need separate WiFi module. ESP32 is recommended.
Q: What about stepper motors? A: Supported but need different drivers (A4988, DRV8825).
Q: Minimum budget? A: ~$41 for testing, ~$100 for moving robot.
Q: 3D printer required? A: No, use cardboard, wood, or buy chassis.
Q: Power everything from one battery? A: Possible but not recommended. Separate motor power prevents brownouts.