rs_pololu
Code Repository of My MSc Course Project
EMATM0054 Robotic Systems
University of Bristol, UK
Version description:
- V1.0: Achieved very simple line following
- motor driver
- line sensors driver
- Bang-bang controller
- Straight line
- V2.0: Achieved improved line following
- 90 degree cornor
- 135 degree cornor
- Finite-state-machine (FSM)
- utility driver: beep and led
- auto map selection
- V3.0: Achieved line following challenge, eared 95% marks for assessment 1 [video]
- encoder driver
- join the line at 90 degree
- simple odometry (by count)
- simple return-to-home (RTH)
- v4.0: Achieved comprehensive line following, baseline for group report
- wheel speed estimation using encoder
- low pass filter
- task scheduler: multi-tasking programming for Arduino
- full PID
- cascaded control architecture
- Heading Controller (PID)->Motor Speed Controller (PID)
- refact all code
- v5.0: LQR-based heading controller
- odometry (x,y, theta)
- data recoder