MBSE-2022-1/Firmware-Team
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Hardwares and Connection:
Microcontroller
Hub Motor and Driver
IMU Sensor
Microcontroller Subsystem:
Hub Motor Interface
IMU Interface
Wheel Velocity Estimation
Forward Kinematics
Inverse Kinematics
Wheel Odometry Computation
ROS2 Interface
ROS2:
ROS2 Setup
Xicro Package
Calibration Package
Steps to open ROS2 nodes
Gripper:
Hardware Gripper
Control Algorithms
Test and Evaluation:
Process Timing
Wheel Odometry
Gripper
Firmware Summary
MBSE-2022-1/Firmware-Team
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