Return to Federica Di Lauro's personal page
The project involves the development of the control system for a robotic base which will be used for off-road tests.
The project consists in developing a controller for the motors of a differential wheeled robot for outdoor environments.
The development will involve coding and debugging a STM32F7 MCU, employing various peripherals, comprehending and analyzing simple electronic circuits, and configuring PID parameters.
The steps will be:
- Reading the motors speed through quadrature encoders placed on them.
- Writing the control system, using the speed readings, to manage the motors through a motor driver (H bridge)
- Ensuring that the motors speed is correct through PID control
- Communicating with a normal computer running ROS, sending the speed measurements and receiving commands.