Archived Blog

Its been nearly a month since my last update, my full-time job took over most of my time as we neared an important phase in our project. But since that is resolved now, I dove back into where I left off last time. Last time, I had completed the micro-ROS... [Read More]

This week was all about tuning the PID controllers in the AKROS2 firmware and testing it with a PS4 controller. In Part 2 (the last update), I talked about the slow performance of the controllers when I plugged in the PID gain values from the AKROS firmware. So, I need... [Read More]

This week, I planned on taking a few days off since I felt a bit burnt out at work. Surprisingly, it took only a few hours of binging Taskmaster for me to start feeling better. On day two, I started working on the AKROS2 robot, with a focus on updating... [Read More]

After spending a lot of time learning and experimenting with micro-ROS/ROS2, this week I finally started porting the AKROS software from ROS Noetic to ROS2 Galactic. Since I had just finished experimenting with micro-ROS and Teensy 4.1, I decided to start porting the micro-ROS firmware first. As I mentioned before,... [Read More]

This week, I received some of the goodies I mentioned in the last update. One of them (I’ll talk about the other later) was the Sparkfun Qwiic ToF Imager based on the VL53L5CX sensor by STMicroelectronics. It is a 8x8 time-of-flight (ToF) sensor (64 pixels), with a field-of-view of 45... [Read More]