KiwiBot

Repo for the kiwi chassis. This repo constains the necesary code for core functions in the embedded system design.

Resources

FreeRTOS

• FreeRTOS functions doc
• FreeRTOS concepts intro
• Mastering FreeRTOS Book
• Hands-On RTOS with microcontrollers. Brian Amos

CubeIDE

• Configure VS Code and CubeIDE environment
• Strat RTOS project

Control resources:

• Introduction to Mobile Robot Control. Spyros G Tzafestas
• First Kiwi Paper

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TODO:

Tasks:

• Movement interpreter
  • Joystick reading
  • Simple kinematics system
• I2C comm 9 axis IMU
• Ultrasonic sensor digital
• Inverse kinematics system
• IMU Signal Processing
• Password check

Classes:

• Encoder
• Motor control
• Chassis movement
• Ultrasonic sensor
• IMU Sensor
• Servo

Design:

• Revisar condicion camb en diagrama de estados
• Pasar de los diagramas de inspiración a los reales
• En el class diagram del motor, cambiar el método para tener un channel variable //__HAL_TIM_SET_COMPARE(htimPWM, TIM_CHANNEL_1, control);

Block diagram:

Control diagram:

Movement Flow diagram:

State diagram:

Task priority:

Task relation: