Differential Drive Robot Navigation

A WIP navigation system for a two-wheeled robot. And one that does not use ROS for a change!

Currently working on IMU and encoder-based dead reckoning, which will be eventually fused with LIDAR measurements via breezySLAM.

This project was tested on a Raspberry Pi 4.

Installation

Instructions coming soon

Name	Name	Last commit message	Last commit date
Latest commit theseafaringturtle Create README.md Feb 23, 2022 ce6641c · Feb 23, 2022 History 59 Commits
Encoder	Encoder	fix pointer bugs, add compiler debug flag	Aug 11, 2021
LSM9DS1	LSM9DS1	fix pointer bugs, add compiler debug flag	Aug 11, 2021
comm	comm	Refactor consumer message reader	Aug 7, 2021
.gitignore	.gitignore	Update .gitignore	Aug 7, 2021
CppTimer.h	CppTimer.h	read two encoders in separate threaded process, move timer class	Aug 5, 2021
Makefile	Makefile	refactor consumer	Aug 8, 2021
README.md	README.md	Create README.md	Feb 23, 2022
consumer.cpp	consumer.cpp	fix pointer bugs, add compiler debug flag	Aug 11, 2021
consumer.h	consumer.h	Refactor consumer message reader	Aug 7, 2021
sensor_message_reader.cpp	sensor_message_reader.cpp	trigger recalibration via pid signal	Aug 10, 2021
sensor_message_reader.h	sensor_message_reader.h	trigger recalibration via pid signal	Aug 10, 2021
state.cpp	state.cpp	fix pointer bugs, add compiler debug flag	Aug 11, 2021
state.h	state.h	fix pointer bugs, add compiler debug flag	Aug 11, 2021