https://github.com/leoraclet/wheeled-base
A 4-Omniwheels base with STM32
https://github.com/leoraclet/wheeled-base
base c omniwheel stm32 stm32cubeide stm32f411ceu6
Last synced: 2 months ago
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A 4-Omniwheels base with STM32
- Host: GitHub
- URL: https://github.com/leoraclet/wheeled-base
- Owner: leoraclet
- License: mit
- Created: 2025-07-19T12:40:56.000Z (12 months ago)
- Default Branch: main
- Last Pushed: 2025-07-20T12:49:27.000Z (12 months ago)
- Last Synced: 2025-07-20T14:35:06.197Z (12 months ago)
- Topics: base, c, omniwheel, stm32, stm32cubeide, stm32f411ceu6
- Language: C
- Homepage:
- Size: 946 KB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
4-Omniwheels Base
## Table of Contents
- [Table of Contents](#table-of-contents)
- [🙏 Credits](#-credits)
- [📖 About](#-about)
- [📦 Structure](#-structure)
- [🔧 Build](#-build)
- [📜 License](#-license)
## 🙏 Credits
- Thanks to [dragonfuneste](https://github.com/dragonfuneste) for his contribution, naming
- Helped me with the code
- Provided examples and inspiration with his [own
project](https://github.com/dragonfuneste/Projet_Asmodeus)
- Tought me many things on robotics
## 📖 About
This projects was the code of our wheeled base during the [French Cup of
Robotics](https://www.coupederobotique.fr) in 2025.
> [!NOTE]
>
> This project was setup with
> [STM32CubeIDE](https://www.st.com/en/development-tools/stm32cubeide.html) with the
> [STM32F411CEU6](https://www.st.com/en/microcontrollers-microprocessors/stm32f411ce.html) as the
> specified target MCU
## 📦 Structure
**Directories**
- [**`Src`**](./Core/Src/) - Source files (`.c`)
- [**`Inc`**](./Core/Inc/) - Headers (`.h`)
**Files**
- `pid.c` – Implements a robust numerical PID controller.
- `encoders.c` – Interfaces with rotary incremental encoders.
- `moteurs.c` – Provides a basic motor control interface.
- `log.c` – Custom logging module for tracking system activity.
- `imu.c` – Driver for the
[MPU-9250](https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250/) IMU.
- `uart.c` – UART communication module for logging and control.
- `altimu.c` – Interface for the [AltIMU-v4](https://www.pololu.com/product/2470) sensor.
- `fusion.c` – Handles 9-DoF sensor fusion.
- `odometrie.c` – Implements odometry for a 4-omniwheel robot.
- `asserv.c` – Feedback control for motors and robot movement.
## 🔧 Build
> [!WARNING]
>
> STM32CubeIDE builds the project only for the specified target (MCU)
To build this project, first install the
[STM32CubeIDE](https://www.st.com/en/development-tools/stm32cubeide.html) on your system.
Then, you can clone this repo
```bash
git clone https://github.com/leoraclet/wheeled-base
```
And open / import the project into STM32CubeIDE
---
If you want to build for another target, then create a new project for the wanted target and just
copy the source files of this project, with the corresponding headers, into your project.
## 📜 License
This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.