Wheel attachment module used for ground mobility. Transforms the Pluto X drone into a hybrid air-ground vehicle capable of both flying and driving on surfaces. Uses Motor ports M1 and M2 for differential drive wheel control.
Build a program to control ground-based wheel movement, enabling the drone to drive on flat surfaces.
The X-Hybrid module is a wheel attachment that transforms the Pluto drone into a hybrid air-ground vehicle. It uses DC motors controlled via PWM signals to drive wheels, enabling the drone to roll along flat surfaces. This opens up a new dimension of mobility, allowing the drone to conserve battery by driving instead of flying when appropriate, and to navigate tight indoor spaces where flight may not be practical.
The X-Hybrid uses the Motor (M1, M2) on the Primus X2 board. Compatible with Pluto X (Primus X2) only. The X-Hybrid uses motor ports M1 and M2 for differential drive. Ensure the wheel assembly is securely attached to the drone frame before operation.
| Primus X2 Pin | Peripheral |
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PlutoBlocks code for this module is coming soon. Stay tuned for updates!
PlutoIDE C++ code for this module is coming soon. Stay tuned for updates!
| Motor M1 port | Left wheel motor |
| Motor M2 port | Right wheel motor |
Approach The wheel motors are controlled via Motor ports M1 and M2 on the Primus X2 board. RC stick inputs (throttle, pitch, roll) are converted into differential drive commands for left and right wheels, with deadband handling for smooth control. Code Logic Explained On Start: Both motors M1 and M2 are initialized and set to minimum speed (1000), ensuring wheels start stationary.Pluto Loop: RC stick values are read for throttle, pitch, and roll. Pitch controls forward/backward movement, roll controls turning, and throttle scales overall speed. A 200µs deadband zone (1400-1600) prevents drift when sticks are centered. The code uses differential drive mixing - left wheel = pitch + roll, right wheel = pitch - roll - enabling tank-style steering. Motor direction is set forward or reverse based on the computed commands.On Stop: Both motors are set to minimum speed (1000), stopping all wheel movement.
Hybrid air-ground surveillance Indoor navigation in tight spaces Ground-based exploration before takeoff
Ready for the next challenge? Try these extensions to deepen your understanding. 1Program autonomous ground navigation using IR sensors. 2Create a mode-switching system that transitions between flying and driving. 3Build a ground-following patrol robot that can take off when needed. Pluto Drone Add-On Projects — Compatible with Pluto 1.2 (Primus V5) & Pluto X (Primus X2) — Drona Aviation
Ready for the next challenge? Try these extensions to deepen your understanding.