2021 - a year in review

And upcoming plans for 2022

2021 has been a personal highlight for me as I stuck with one side-project throughout the year instead of scuttling between multiple projects. Unlike in 2020, where I was just experimenting with rapid prototyping tools and ROS packages, 2021 started with a plan - to build an autonomous ROS robot... [Read More]

Closed loop motor control

Using encoders and PID controllers

After setting up the encoders last week, I finally implemented closed loop control using classic PID controllers. I used four PID controllers, one for each motor to reduce the error between the reference RPM and the measured RPM from the encoders. The reference RPM is calculated for each motor from... [Read More]

Getting started with wheel odometry

And some OAK-D updates

Its been a long time since I last posted on this blog. Mainly because things got busy at work, and I was also re-doing a lot of the OAK-D implementation that I have already spoken about. But since the last week, I have been working towards implenting wheel odometry using... [Read More]