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axiscontroller_20220609_last

6 axis robotic arm controller - last mbed compiler version of software

dewaltbatterycutoff

Circuit using the RP2040 Pico microcontroller to monitor a 20V DeWalt battery and give an alarm and eventually shutoff the battery load to avoid deep discharging.

ew202_fy23_rp2040pico_pixycam

EW202 RP2040 pico PixyCam5 Interface PCB

ew309_fy23_turret_nucleo

Nucleo L432KC Control Board for EW309 Nerf Gun Turret

ew309_fy24_turret_pico

RP2040 Pico printed circuit board for EW309 Azimuth-Elevation Nerf Gun Turret Assembly

mbed_auv_bno055_pid_headingcontrol

This example uses the PID class to implement a heading controller using a BNO-055 IMU. This was initially developed for the WRC (Weapons, Robotics, and Control Engineering) TSD (Technical Support Department) AUV (Autonomous Underwater Vehicle)

mbed_can_bno055_20180208

Example program for SY202 using the BNO055 IMU sensor transmitting short string of position in radians on the CAN bus in a single CANMessage

mbed_can_controller

mbed CAN bus controller example. Uses CAN bus to perform closed loop control by reading angular position from a BNO055 IMU sensor and transmitting servo commands "sXXXX\r" where XXXX is a pulse width in microseconds. The controller can also receive set points

mbed_can_listen

SY202 mbed CAN bus example. Listener eavesdrops on the CAN bus traffic and sends to a serial terminal. Could be used to inject packets (CANMessage) on the bus to disrupt closed loop controller.

mbed_can_servo

mbed_can_sy202_lab

CAN network of mbeds distributing a closed loop controller using a servo arm and a BNO055 IMU for controlling an angle. The topology can be used to demonstrate a cyber attack and acts as the basis for additional cyber physical systems labs.

mbed_es410_motorid

Used to establish motor characteristics for the ES/EW410 course

mbed_es410_pid

ES410 PID program

mbed_es410_pid_getkekeold

Allows user to enter ke and keold variables through the serial interface (terminal program)

mbed_es410_sensorcal

ES410 - Simple program for streaming the encoder output

mbed_es410_simplespeedmeasurement

ES410 Simple Speed Measurement

mbed_es410_week1

ES410 week 1 program ported from Rabbit ES432 board to the mbed

motcon

This MotCon motor driver class can be used with a variety of motor driver integrated circuits for driving PM DC motors. The MotCon class is overloaded to accommodate either one or two direction pins and a PwmOut pin for speed control/motor enable .

pico_servocan_v1.0

RasPi Pico RP2040 Sevo CAN Microcontroller Board

surfpicanhat_2022

WRC Surface Vessel Raspberry Pi CAN Hat for VESC control and Relay Power Board Control

surfpowerrelayboard

Power distribution and control board for the WRC Surface Vessel