I created a sensor and control library to control a differential drive robot I created. The differential robot is called Frank btw, and I made a website post about him! Still working on all the features, but hopefully what I have here now is useful for someone!
- Build and design Frank
- Create repository and readme
- Fix venv (no python exe?)
- Fix repository basically
- Learn python hardware interface
- Fix python library dependencies (Must be an easy way to download all relevant python libs)
- Finish sensor interface
- Finish Actuator interface
- Add threading to PID class
- Investigate custom Kalman filter
- Write custom Kalman filter
- Get robot to turn accurately 90 Deg back and forth
- Research A* algorithm
- Create node map with localized resolution control
- Write A* algorithm for this map
- Translate path data into something followable
- Create path following controller (Pure pursuit maybe?)
- Get robot from point A to point B
- Get robot from point A to point B over a ~12 foot non-linear length within +- 1in
- And do these always keeping in mind comments and readability for when I inevitably forget most of it