On moving forward

A project log for krex

Kyle's robotics experimentation platform.

Kyle IsomKyle Isom 07/09/2019 at 05:470 Comments

It moves!

I've got the motor controller working and sorted out a few misunderstandings with the PCA9685 (that's what I get for writing a bunch of code and not testing on the robot as I was building it... though that wasn't an option), and it drives. It even turns. It's basically hardware complete, though I'm still thinking about adding a camera to it.

I'm not too disappointed in the code I wrote, either (it's all C++). This validates a bunch of things:

Next up: getting the IMU working. I don't have to write an I2C library, and I don't have to process incoming messages - just read, calibrate, and so forth.