Blog Archives

Using a Kalman filter on a single analog channel

Things have been slow here at YardBot HQ recently. Not only do I work full time as a mobile software developer, but part time I work for a mechanical engineering company (same building and owners) that will be releasing a

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Building Arduino firmware with CMake and catkin

As projects get more complex, the tools you use start to become somewhat unwieldy, and they are no longer as effective as before. YardBot runs with 2 Arduinos, and currently my process for updating their firmware requires starting an Ubuntu

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Closed loop PID control of a DC motor

After getting the DC motor to work nicely with my PS3 joystick, I continued by building in a control system using the PID algorithm. A feedback based control system is very important for advanced robotics, as it makes sure that

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Writing a custom joystick teleop node for ROS

I’m learning a lot about ROS with every component I add to YardBot but one of the things I haven’t done yet, and will be required to do lots of, is make a custom C++ node for controlling systems. The

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