****
Limo
****

Revision History
================

+----------+-------------------+----------+------------------------+
| Revision | Date (DD/MM/YYYY) | Author   | Changes                |
+==========+===================+==========+========================+
| 1        | 02/11/2022        | Kee Jin  | Initial release        |
+----------+-------------------+----------+------------------------+

1. Overview
===========
The Limo mobile robot is a four-wheeled drive platform that supports omni-wheel steering, tracked steering, differential steering and ackermann steering. 

2. Specifications
=================

.. list-table:: Technical Specifications
   :widths: 25 25
  
   * - Size
     - 322mm x 220mm x 251mm	
   * - Minimum Ground Clearance
     - 24mm
   * - Operating Temperature
     - -10 - 40 ℃
   * - IP Rating
     - IP22
   * - Maximum Speed
     - 1m/s	
   * - Maximum Angle of Tilt
     - <25° (omni-wheel, differential, ackermann), <40° (tracked)
   * - Charging Time
     - 2h
   * - Weight
     - 4.8kg

.. list-table:: In-Wheel Motor Specifications
   :widths: 25 25
  
   * - No-load Speed
     - 315rpm ± 10rpm
   * - No-load Current
     - ≤ 0.25A
   * - Rated Speed
     - 200rpm
   * - Rated Torque
     - 0.55Nm 
   * - Rated Current
     - 1.45A
   * - Maxiumum Efficiency
     - ≥ 50%
   * - Stall Torque
     - 1.1Nm
   * - Stall Current
     - ≤ 3.5A
   * - Rated Voltage
     - 18V DC
   * - Constant Torque
     - 0.37Nm/A
   * - Constant Speed
     - 17.5rpm/V
   * - Working Environment
     - -20°C ~ 45°C
   * - Weight
     - 300g 
   * - Encoder Resolution
     - 4096
   * - Relative Accuracy
     - 1024
   * - Noise Level
     - ≤ 52dB

1. Resources
============

* Limo Manual: `limo_manual <https://github.com/agilexrobotics/limo-doc/blob/master/Limo%20user%20manual(EN).md>`_
* Dabai Camera Manual (CN): `Orbbec Dabai <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EVS9VBsLvEtBuNYUANL1G2wBgxu5_oVS0oCqaTLwUgfJBQ?e=GWREwn>`_
* ROS package: `limo_ros <https://github.com/westonrobot/limo_ros>`_
* ROS2 package: `limo_ros2 <https://github.com/westonrobot/limo_ros2_docker>`_
* CAD File: `Limo STEP file <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EQIjbmWe92FPu0OpIE4F8uUB9C8K2iun76aRf7QPEVYE3A?e=A2FixU>`_