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MicroROS Self-balancing Robot Car📖

01.Introduction

0.Unboxing and Reviewing
1. Must read before use - learning route
2. Introduction to LiDAR
3. Balance car interface description
4. Analysis of common problems
5. Robot charging and battery precautions

02.Assembly tutorial

Robot assembly steps

03.Preparation

0.Quick Start (Must Read)
1.Write firmware
2.How to install and use VM
3.ESP32 communication board configuration parameters
4.Connect to microROS agent

04.ROS-WiFi module configuration

0.Serial port configuration WiFi instructions
1.Use ROS-WiFi cam module(must read)
2.Connect to ROS-WiFi cam module agent
3.Camera image correction (optional)

05.Quick start control

1.Keyboard remote control
2.Handle remote control

06.ROS+OpenCV course

1.OpenCV Getting started
2.Geometric transformation
3.Image processing and drawing text line segments
4.Image beautification

07.Mediapipe course

1. Hand detection
2. Posture detection
3. Overall inspection
4. Face detection
5. Face recognition
6. Facial effects
7. 3D object recognition
8. Brush
9. Finger control
10. Gesture recognition

08.Robot basic course

1.Robot information release
2.Robot keyboard control
3.Robot handle control
4.Robot state estimation
5.Line speed calibration
6.Angular velocity calibration
7.Robot URDF model

09.Lidar course

1.Lidar avoid
2.Lidar following
3.Lidar guard
5.Gmapping mapping
6.Cartographer mapping
7.Navigation2 navigation avoid
8.Navigation2 fast relocation navigation
9.ROS Robot APP mapping
10.ROS Robot APP navigation

10.Robot visual interaction

1.Color tracking
2.Object recognition and tracking
3.Face recognition tracking
4.Autonomous driving line patrol
5.QR code motion control
6.Gesture control car movement
7.Palm control car movement
8.Gesture control car action group
9.Palm recognition and tracking
10.Human body posture recognition and tracking

11.Multi-machine course

1.Multi-machine handle control
2.Multi-machine keyboard control
3.Multi-machine navigation
4.Multi-machine rapid relocation navigation

12.STM32 balancing case

01.Environment construction and development

13.Window Watchdog (WWDG)
01.MDK-ARM installation
02.STM32CubeIDE installation
03.Common driver installation
04.Download the program
05.MDK-ARM project usage
06.Program simulation

02.STM32 getting started course

01.Project creation
02.LED Control(GPIO)
03.Buzzer control(GPIO)
04.Button control(EXTI)
05.Serial communication(USART)
06.Voltage detection(ADC)
07.Basic timer(TIM)
08.Universal timer(TIM)
09.Advanced Timer(TIM)
10.I2C Communication(I2C)-OLED
11.SPI communication(SPI)-2.4G handle
12.Independent Watchdog (IWDG)
14.DMA-USART
15.DMA-I2C

03.STM32 expansion course

01.Battery voltage detection (ADC)
02.Ultrasonic module-measuring distance (TIM)
03.Motor drive+encoder (TIM)
04.OLED Data-Display(I2C)
05.MPU6050-Data Read (I2C)

04.Robot car PID control course

01.PID basic concept
02.PID example analysis
03.P, PI, PD controller theory
04.Position PID
05.Incremental PID
06.Cascade PID
07.Balance principle of car
08.Car upright control (PD)
09.Car speed control (PI)
10.Car steering control (PD)
11.Got angle and angular velocity (DMP algorithm)
12.Got angle and angular velocity (Kalman filter algorithm)
13.Got angle and angular velocity(Complementary filter algorithm)

05.Robot car basic course

01.Car parameter adjustment
02.Ultrasonic obstacle avoidance
03.Ultrasonic follow
04.Bluetooth remote control
05.Load balance
06.Radar obstacle avoidance
07.Radar guard
08.Radar follow
09.Radar patrol
10.Radar wall following go in a straight line
11.Radar tracking wall multiple walls

06.Robot car LQR control

Balance car LQR high-level control

07.Circuit design

01.Overall circuit design
02.STM32 minimum system
03.Serial port circuit design
04.Power circuit design
05.MPU6050 Circuit Design
06.Motor drive circuit design

08.Mathematical model

Balance car mathematical model

13.Linux basic course

1.Introduction to Linux system
2.Ubuntu file system
3.Ubuntu common commands
4.Ubuntu common editors
5.Ubuntu software operation commands
6.Virtual machine installation
7.SSH remote control
8.VNC remote control
9.Transfer files remotely
10.Driver library and communication
11.Static IP and hotspot mode
12.Bind device ID
13.Capacity expansion and resource allocation
14.Update system software sources
15.Set root user password
16.sudo free password
17.Connect to WiFi network
18.View system version
19.Customized service management
20.Back up system image

14.Docker course

1. Overview and installation
2. Common commands
3. Docker images deeply understand and publish images
4. Docker hardware interaction and data processing
5. Enter the bot's docker container

15.ROS2 basic course

1.Introduction to ROS2
2.ROS2 install Humble
3.ROS2 development environment
4.ROS2 workspace
5.ROS2 function package
6.ROS2 node
7.ROS2 topic communication
8.ROS2 service communication
9.ROS2 action communication
10.ROS2 custom interface message
11.ROS2 parameter service case
12.ROS2 meta-function package
13.ROS2 distributed communication
14.ROS2 DDS
15.ROS2 time related API
16.ROS2 common command tools
17.ROS2 rviz2 use
18.ROS2 rqt toolbox
19.ROS2 Launch startup file configuration
20.ROS2 recording and playback tool
21.ROS2 URDF model
22.ROS2 Gazebo simulation platform
23.ROS2 TF2 coordinate transformation

Download

RemoteCtrl_APP(Android)
Mapping_APP(iOS_Android)
Code
Hardware Information
software tools
3D model file
Instruction manual
VM image file
ROS2_Basic_VM

Welcome to MicroROS Self-balancing Robot Car repository

Balance car LQR high-level control

Radar tracking wall multiple walls

Overall circuit design

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