About

This project uses an STM32 Nucleo board (STM32G474RE-NUCLEO64) with an IKS01A3 IMU sensor to sense hand motion (accelerometer, gyroscope, magnetometer). It fuses the sensor data using an EKF (Extended Kalman Filter) and converts the estimated orientation / motion into PWM output. The output drives a DC motor (car) and is communicated over Bluetooth.

Built using ChibiOS RTOS.

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Features

• Real-time sensor fusion (IMU + magnetometer) using EKF
• PWM output mapping of hand motion to motor control
• Bluetooth interface for remote control / telemetry
• Embedded, real-time operating system ensures responsiveness

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Hardware

• STM32 Nucleo board: STM32G474RE-NUCLEO64
• IMU / magnetometer: IKS01A3 (accelerometer, gyro, magnetometer)
• DC motor + driver (hardware that receives PWM)
• Bluetooth module / interface to transmit / receive commands

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Software / Tech Stack

• C language

• ChibiOS RTOS for task scheduling, timers, etc.

• EKF algorithm implementation

• PWM peripherals of STM32 for motor control

• Bluetooth communication

Video.sense.titol_.creat.amb.Clipchamp.mp4