Control system for off-road robotic base

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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.