ME 507 Romi++
Cylindrical Differential Drive Robot created for ME 507 at Cal Poly in Spring 2025
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Inc Directory Reference

Files

 
balance.h
 Declaration of the BALANCE class for managing robot balance using a FSM.
 
battery_check.h
 Header for the BATTERY_CHECK class that monitors battery voltage of a 3S LiPo battery using the ADC.
 
bluetooth.h
 Bluetooth command handler for robot control.
 
bno055_init.h
 BNO055 IMU initialization interface.
 
BNO055_STM32.h
 
command_parser.h
 Header for UART command parsing module.
 
encoder.h
 Quadrature encoder interface for STM32 timers.
 
heading.h
 FSM class for heading-based robot control using IMU input.
 
main.h
 : Header for main.c file. This file contains the common defines of the application.
 
motor_driver.h
 Low-level motor control interface for STM32 using PWM.
 
motor_task.h
 Motor control task with feedback and coordination logic.
 
stm32f4xx_hal_conf.h
 
stm32f4xx_it.h
 This file contains the headers of the interrupt handlers.
 
time_utils.h
 Utility functions for microsecond-level timing.
 
uart_dma_idle.h
 UART DMA with idle line detection handler.