Wrote a Wireless Controller Script + PID

I used a PID controller to regulate the speed of the motors, and used a custom command structure so that the Pi could easily tell the KineticBoard to either go forward, rotate, or stop. The commands also allow for the Pi to send values for the speed of the motors, which the Pico then uses as a target in a PID loop to find the optimal PWM duty cycle for.

There were a lot of setbacks in this session, one of which was the constant twisting from the USB-C receptacle’s cable that connected the Pi and the KineticBoard, which required me to solder it back on TWICE. I also had to create a 6-pin adapter from scratch because one of the two that I was revously using decided to get loose at some random point.

My next steps would be to organize everything because rn I have all the firmware in one repo, and all of the higher level code for the Pi and the Hardware in another (this includes 3d models). Lastly, as a demo, I will connect the LiDAR algorithm from way back when to actually drive the robot in the most optimal direction. this is not the purpose of the robot; just a demo of what it can do