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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