├── .deploy ├── ch-11-1-encoder-speed.sh ├── ch-11-2-speed-control.sh ├── ch-13-all-sensors-test.sh ├── ch-13-no-sensors.sh ├── ch-5-1-test-1-pin.sh ├── ch-5-1-test-all-pins.sh ├── ch-5-2-motors-forward.sh ├── ch-8-1-sensor-test.sh ├── ch-8-2-2-sensors.sh ├── ch-8-3-avoid-walls.sh ├── clean-up.sh ├── repl.sh ├── requirements.txt ├── send-it.sh ├── send-libs.sh └── setup-libraries.sh ├── .gitignore ├── LICENSE ├── README.md ├── ch-01 └── test-fit.drawio ├── ch-02 ├── blink.py ├── helloworld.py └── light_led.py ├── ch-03 └── robot.FCStd ├── ch-04 └── cutting-template.pdf ├── ch-05 ├── 1-tests │ ├── motors_test_1_pin.py │ ├── motors_test_1_pin_short.py │ ├── motors_test_all_pins.py │ ├── motors_test_all_pins_short.py │ └── robot.py ├── 2-forward-back │ ├── motors_backward.py │ ├── motors_forward.py │ └── robot.py ├── 3-turning │ ├── motors_1_motor_turn.py │ ├── motors_2_motor_turn.py │ └── robot.py ├── 4-pwm │ ├── 1-with_pwm │ │ └── robot.py │ ├── 2-with_helpers │ │ └── robot.py │ ├── motors_convert_speed.py │ ├── motors_pwm_drive_slower.py │ ├── motors_pwm_gentle_turn.py │ └── motors_pwm_multispeed.py └── 5-path │ ├── pwm_drive_square.py │ └── robot.py ├── ch-06 ├── 0-pio-basic │ └── pio_led_test.py ├── 1-simple-input │ ├── pio_read_1_pin.py │ └── pio_read_2_pins.py ├── 2-techniques │ ├── debugging_isr.py │ ├── extract_a_bit.py │ ├── extract_a_bit_explore.py │ ├── invert_a_register.py │ ├── pio_counting_down.py │ ├── pio_counting_up.py │ ├── pio_debugging_registers.py │ ├── reversing_a_register.py │ ├── shift_and_reverse.py │ └── shift_bits.py ├── 3-change-conditions │ ├── pio_one_encoder_when_changed.py │ └── pio_two_encoders_when_changed.py ├── 4-quadrature-encoding │ └── pio_encoder_counting.py ├── 7-demos │ ├── encoder_mouse_demo.py │ ├── measure_fixed_time.py │ ├── pio_encoder.py │ └── robot.py └── 8-exercises │ ├── cad exercise │ └── Robot.FCStd │ └── drive_fixed_count.py ├── ch-07 ├── BracketDrawing.pdf ├── DrillingChassiPlateHoles.pdf ├── Robot_simple_brackets.FCStd ├── UpperPlateDrawing.pdf ├── pimoroni_vl53l1x.FCStd └── robot.FCStd ├── ch-08 ├── 1-single-sensor │ └── read_1_sensor.py ├── 2-two-sensors │ └── read_2_sensors.py └── 3-avoid │ ├── avoid_walls.py │ ├── pio_encoder.py │ ├── robot.py │ └── varying_wall_avoid.py ├── ch-09 ├── 1-bluetooth-basics │ ├── 1-bluetooth-bidirectional │ │ └── code.py │ ├── 2-read-control-packets │ │ └── code.py │ └── 3-random-walk-graph │ │ └── code.py ├── 1-bluetooth-hello-world │ └── code.py ├── 2-bluetooth-distance-sensors │ ├── code.py │ ├── pio_encoder.py │ └── robot.py ├── 3-bluetooth-print-incoming │ └── code.py ├── 4-bluetooth-teleop │ ├── code.py │ ├── pio_encoder.py │ └── robot.py └── 5-bluetooth-accelerometer-drive │ ├── code.py │ ├── pio_encoder.py │ └── robot.py ├── ch-10 ├── 1-proportional-distance-control │ ├── code.py │ ├── pio_encoder.py │ └── robot.py ├── 2-pi-distance-control │ ├── code.py │ ├── pio_encoder.py │ └── robot.py ├── 3-damping-with-derivative │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py ├── 4-wall-follow │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ ├── robot.FCStd │ └── robot.py └── _figure_generator │ ├── idealised-pid-response.ipynb │ ├── integral_graph.ipynb │ ├── noisy_derivatives_graph.ipynb │ ├── slopes_on_wave.png │ ├── slopes_on_wave.svg │ └── tangent_on_sinewave.ipynb ├── ch-11 ├── 1-measuring-wheel-speeds │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py ├── 2-speed-control │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py ├── 3-known-distance │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── _test_encoder_output │ ├── code.py │ ├── lpf.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py ├── ch-12 ├── 1-connect │ └── code.py ├── 2-calibrate │ └── code.py ├── 3-always-face-north │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py ├── 4-make-known-turn │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot.FCStd └── ch-13 ├── 1-arena └── arena.FCStd ├── 2.1-modelling-space-simple ├── arena.py ├── display_arena.py ├── poetry.lock └── pyproject.toml ├── 2.2-bluetooth ├── display_arena.py ├── display_from_robot.py ├── find_devices.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 3.1-displaying-a-pose ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 3.2-collision-avoidance ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 3.3-moving-with-encoders ├── analyse_output.ipynb ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 3.4-movement-uncertainty ├── banana_shaped.py ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 4.1-generating-weights ├── analyse_output.ipynb ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── robot │ ├── arena.py │ ├── code.py │ ├── pid_controller.py │ ├── pio_encoder.py │ └── robot.py └── robot_ble_connection.py ├── 4.2-modelling-distances ├── arena.py ├── display_arena.py ├── graph_decay.py ├── poetry.lock └── pyproject.toml ├── 4.3-monte-carlo ├── analyse_output.ipynb ├── display_from_robot.py ├── poetry.lock ├── pyproject.toml ├── requirements.txt ├── 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