{"id":49552410,"url":"https://github.com/leoraclet/wheeled-base","last_synced_at":"2026-05-02T23:49:16.241Z","repository":{"id":305504722,"uuid":"1022605802","full_name":"leoraclet/wheeled-base","owner":"leoraclet","description":"A 4-Omniwheels base with STM32","archived":false,"fork":false,"pushed_at":"2025-07-20T12:49:27.000Z","size":969,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-07-20T14:35:06.197Z","etag":null,"topics":["base","c","omniwheel","stm32","stm32cubeide","stm32f411ceu6"],"latest_commit_sha":null,"homepage":"","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leoraclet.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-07-19T12:40:56.000Z","updated_at":"2025-07-20T12:49:30.000Z","dependencies_parsed_at":"2025-07-20T14:45:09.858Z","dependency_job_id":null,"html_url":"https://github.com/leoraclet/wheeled-base","commit_stats":null,"previous_names":["leoraclet/wheeled-base"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/leoraclet/wheeled-base","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leoraclet%2Fwheeled-base","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leoraclet%2Fwheeled-base/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leoraclet%2Fwheeled-base/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leoraclet%2Fwheeled-base/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leoraclet","download_url":"https://codeload.github.com/leoraclet/wheeled-base/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leoraclet%2Fwheeled-base/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32553690,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-02T22:28:24.418Z","status":"ssl_error","status_checked_at":"2026-05-02T22:28:14.225Z","response_time":132,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["base","c","omniwheel","stm32","stm32cubeide","stm32f411ceu6"],"created_at":"2026-05-02T23:49:15.401Z","updated_at":"2026-05-02T23:49:16.236Z","avatar_url":"https://github.com/leoraclet.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003cdiv align=\"center\"\u003e\u003cimg style=\"width: 300px\" src=\"./assets/omniwheel.png\" /\u003e\u003c/div\u003e\n\u003ch1 align=\"center\"\u003e4-Omniwheels Base\u003c/h1\u003e\n\n\u003cdiv align=\"center\"\u003e\n\n![license](https://img.shields.io/github/license/leoraclet/wheeled-base)\n![language](https://img.shields.io/github/languages/top/leoraclet/wheeled-base)\n![lastcommit](https://img.shields.io/github/last-commit/leoraclet/wheeled-base) \u003cbr\u003e\n![Language](https://img.shields.io/badge/Language-C-1d50de)\n![Libraries](https://img.shields.io/badge/Framework-STM32-fa8925)\n![Size](https://img.shields.io/badge/Size-10Mo-f12222)\n![OpenSource](https://badges.frapsoft.com/os/v2/open-source.svg?v=103)\n\n\u003c/div\u003e\n\n## Table of Contents\n- [Table of Contents](#table-of-contents)\n- [🙏 Credits](#-credits)\n- [📖 About](#-about)\n- [📦 Structure](#-structure)\n- [🔧 Build](#-build)\n- [📜 License](#-license)\n\n## 🙏 Credits\n\n- Thanks to [dragonfuneste](https://github.com/dragonfuneste) for his contribution, naming\n  - Helped me with the code\n  - Provided examples and inspiration with his [own\n    project](https://github.com/dragonfuneste/Projet_Asmodeus)\n  - Tought me many things on robotics\n\n\n## 📖 About\n\nThis projects was the code of our wheeled base during the [French Cup of\nRobotics](https://www.coupederobotique.fr) in 2025.\n\n\u003e [!NOTE]\n\u003e\n\u003e This project was setup with\n\u003e [STM32CubeIDE](https://www.st.com/en/development-tools/stm32cubeide.html) with the\n\u003e [STM32F411CEU6](https://www.st.com/en/microcontrollers-microprocessors/stm32f411ce.html) as the\n\u003e specified target MCU\n\n## 📦 Structure\n\n**Directories**\n\n  - [**`Src`**](./Core/Src/) - Source files (`.c`)\n  - [**`Inc`**](./Core/Inc/) - Headers (`.h`)\n\n**Files**\n\n- `pid.c` – Implements a robust numerical PID controller.\n- `encoders.c` – Interfaces with rotary incremental encoders.\n- `moteurs.c` – Provides a basic motor control interface.\n- `log.c` – Custom logging module for tracking system activity.\n- `imu.c` – Driver for the\n  [MPU-9250](https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250/) IMU.\n- `uart.c` – UART communication module for logging and control.\n- `altimu.c` – Interface for the [AltIMU-v4](https://www.pololu.com/product/2470) sensor.\n- `fusion.c` – Handles 9-DoF sensor fusion.\n- `odometrie.c` – Implements odometry for a 4-omniwheel robot.\n- `asserv.c` – Feedback control for motors and robot movement.\n\n## 🔧 Build\n\n\u003e [!WARNING]\n\u003e\n\u003e STM32CubeIDE builds the project only for the specified target (MCU)\n\nTo build this project, first install the\n[STM32CubeIDE](https://www.st.com/en/development-tools/stm32cubeide.html) on your system.\n\nThen, you can clone this repo\n\n```bash\ngit clone https://github.com/leoraclet/wheeled-base\n```\n\nAnd open / import the project into STM32CubeIDE\n\n---\n\nIf you want to build for another target, then create a new project for the wanted target and just\ncopy the source files of this project, with the corresponding headers, into your project.\n\n## 📜 License\n\nThis project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleoraclet%2Fwheeled-base","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleoraclet%2Fwheeled-base","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleoraclet%2Fwheeled-base/lists"}