ME 405 Term Project

Repository: GitHub - ME-405-Term-Project

Contents:

• Overview
• Hardware
  • Chassis and Drivetrain
  • Power Distribution Board
  • Micro-controller Board
  • Shoe of Brian Interface Board
  • IMU
  • Line Sensor
  • Bump Sensor
• Wiring
  • Nucleo Pin Constraints
  • Motor Control
  • Encoder Connections
  • Battery Monitoring
  • IR Sensor Array
  • IMU Connections
  • Bump Sensors
  • Bluetooth Serial
  • Full Assembly
• Tasks
  • System Architecture Overview
  • Individual Task State Machines
• Source Code
  • API Reference
  • Motor Driver
  • Encoder
  • Closed-Loop Velocity Control
  • Line Following
  • Autonomous Navigation
  • Encoder Odometry
  • Supporting Sensors
  • IR Sensor Array
  • Motor Control Task
  • Serial Communication
  • PC User Interface
  • Main Program
• Analysis
  • Original Approach: State-Space Observer with IMU Fusion
  • Issues Encountered and Pivot to Displacement-Based Approach
  • Final Approach: Displacement-Based Odometry
  • Bluetooth Telemetry and Line Following Breakthrough
• Original Approach API Reference
  • IMU Driver
  • Calibration Manager
  • IMU Handler Task
  • Navigation (Original)
  • State Observer
  • RK4 Solver
  • Main (Original)
• Time Trials
  • Official Trial Results
  • Summary
  • Key Observations
  • Failure Analysis
  • Performance Problems
  • Timing Breakdown
  • Lessons Learned
  • Recommendations for Future Runs
  • Future Speed Optimization Plan