This repo contains the firmware code for gantry control for a 2D inverted pendulum project as a part of a UBC Engineering Physics Capstone project.
- Driver Dynamics
- Implement Move.h to map motor rotation to cartesian movement of the gantry
- ESP32 Bluetooth Communication
- Implement and test BTSerial class to allow communication between motor driver and pendulum ESP32s.
- Monitoring Suite
- Implement Python script to read serial output out of ESPs
- Documentation
- Add comments to all files for transition to ENPH 479
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Hardware:
ESP32-based board with hall-effect encoder sensors and motor driver. -
Software:
The project uses the Arduino framework with PlatformIO as the build system. -
Next Steps:
Work through tasks above sequentially and mark each task as completed as progress is made.