Sandor Laboratories Robotics Library

Ed Sandor - February-September 2022

Overview

This is my library with common utilities for any robotics software.

History

This is forked from my combat robot software (https://git.sandorlaboratories.com/edward/sl-combat-robot) which ran on a Teensy 4.x board with FreeRTOS and the Arduino IDE. Initially, there may be some assumptions that depend on these, but I plan to remove/featurize any external dependencies overtime.

Features:

Common Types

Utilities

• Common Memory Allocation
• Common Critical Section/Mutex
• Logging

Classes

• Circular Buffer
• Generic Control Loop Template
  • PID
• 2 Channel Encoder
• Generic Motor Driver Template
  • drv8256p Motor Driver
  • Virtual Motor Driver

Dependencies:

• Arduino IDE 1.8.19: https://www.arduino.cc/en/software
• FreeRTOS: https://github.com/tsandmann/freertos-teensy/releases/tag/v10.4.5_v0.3