├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── documentation.md │ ├── feature_request.md │ └── support.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .gitmodules ├── CHANGELOG.md ├── CNAME ├── Gemfile ├── LICENSE ├── README.md ├── _config.yml ├── _data └── navigation.yml ├── _includes ├── archive-single.html ├── cookie-consent.html ├── footer │ ├── custom.html │ └── head-first-design-patterns.md ├── head │ └── custom.html ├── notebook └── pseudocode.html ├── _pages ├── about.md ├── ads.md ├── diffbot.md ├── home.md ├── math │ ├── calculus │ │ └── lagrange-multipliers-and-constrained-optimization.md │ ├── linear_algebra │ │ └── linear-algebra.md │ └── math.md ├── privacy.html ├── projects.md └── sitemap.md ├── ads.txt ├── assets ├── collections │ ├── diffbot │ │ ├── assembly-v2 │ │ │ ├── 01-motor-frame │ │ │ │ ├── 01-motor-frame.jpg │ │ │ │ ├── 02-motor-frame.jpg │ │ │ │ ├── 03-motor-frame.jpg │ │ │ │ └── 04-motor-frame.jpg │ │ │ ├── 02-i2c-hub │ │ │ │ ├── 01-i2c-hub.jpg │ │ │ │ ├── 02-i2c-hub.jpg │ │ │ │ └── 03-i2c-hub.jpg │ │ │ ├── 03-power │ │ │ │ ├── 01-power.jpg │ │ │ │ ├── 02-power.jpg │ │ │ │ ├── 03-power.jpg │ │ │ │ ├── 04-power.jpg │ │ │ │ ├── 05-power.jpg │ │ │ │ └── 06-power.jpg │ │ │ ├── 04-motor-driver │ │ │ │ ├── 01-motor-driver.jpg │ │ │ │ ├── 02-motor-driver.jpg │ │ │ │ ├── 03-motor-driver.jpg │ │ │ │ ├── 04-motor-driver.jpg │ │ │ │ ├── 05-motor-driver.jpg │ │ │ │ ├── 06-motor-driver.jpg │ │ │ │ └── 07-motor-driver.jpg │ │ │ └── board-plate.jpg │ │ ├── assembly │ │ │ ├── board-plate │ │ │ │ ├── 01-board-plate-top.jpg │ │ │ │ ├── 02-board-plate-front-right.jpg │ │ │ │ ├── 03-board-plate-front-left.jpg │ │ │ │ └── 04-board-plate-side.jpg │ │ │ ├── castor-wheel │ │ │ │ ├── castor-wheel-mounted.jpg │ │ │ │ └── castor-wheel-screws.jpg │ │ │ ├── cooling │ │ │ │ └── heatsink_raspberry4.jpg │ │ │ ├── i2c-hub │ │ │ │ ├── 01-i2c-hub-top.jpg │ │ │ │ ├── 02-i2c-hub-top.jpg │ │ │ │ ├── 03-i2c-hub-top.jpg │ │ │ │ ├── 04-i2c-hub-bottom.jpg │ │ │ │ └── 05-i2c-hub-bottom.jpg │ │ │ ├── motor-driver │ │ │ │ ├── 01-motor-driver.jpg │ │ │ │ ├── 02-motor-driver-power.jpg │ │ │ │ ├── 03-motor-driver-power.jpg │ │ │ │ ├── 04-motor-driver-top.jpg │ │ │ │ ├── 05-motor-driver-top.jpg │ │ │ │ ├── 06-motor-driver-screw.jpg │ │ │ │ ├── 07-motor-driver-screw.jpg │ │ │ │ ├── 08-motor-driver-screw.jpg │ │ │ │ └── 09-motor-driver-screw-plate.jpg │ │ │ ├── motor │ │ │ │ ├── 01-motor-wires.jpg │ │ │ │ ├── 02-solder-motor-wires.jpg │ │ │ │ ├── 03-crimp-motor-wires.jpg │ │ │ │ ├── 04-crimped-motor-wires.jpg │ │ │ │ ├── 05-dupont-motor-wires.jpg │ │ │ │ ├── 06-motor-punch-disk.jpg │ │ │ │ ├── 07-motor-frame.jpg │ │ │ │ ├── 08-motor-frame.jpg │ │ │ │ └── 09-motors-frame.jpg │ │ │ ├── power │ │ │ │ ├── battery-pack-bottom.jpg │ │ │ │ └── battery-pack-top.jpg │ │ │ └── speed-sensor │ │ │ │ ├── 01-speed-sensor-swap-pin-header.jpg │ │ │ │ ├── 02-speed-sensor-zip-tie.jpg │ │ │ │ ├── 03-speed-sensor-zip-tie.jpg │ │ │ │ ├── 04-speed-sensors-zip-tied.jpg │ │ │ │ ├── 05-speed-sensors-zip-tied.jpg │ │ │ │ ├── 06-speed-sensor-encoder-wheel.jpg │ │ │ │ ├── 07-speed-sensor-encoder-wheel-clearance.jpg │ │ │ │ └── 08-speed-sensor-encoder-wheel-clearance-close.jpg │ │ ├── car-kit05.jpg │ │ ├── components │ │ │ ├── bno055.jpg │ │ │ ├── bread-board-gpio-extension.jpg │ │ │ ├── case_bottom_raspberry4_rainbow.jpg │ │ │ ├── case_fan_side_raspberry4_rainbow.jpg │ │ │ ├── case_fan_top_raspberry4_rainbow.jpg │ │ │ ├── case_ports_raspberry4_rainbow.jpg │ │ │ ├── case_side_raspberry4_rainbow.jpg │ │ │ ├── case_top_raspberry4_rainbow.jpg │ │ │ ├── components.jpg │ │ │ ├── dg01d-e-motor-with-encoder-pins.png │ │ │ ├── dg01d-e-motor-with-encoder.jpg │ │ │ ├── gearbox-motor-close.jpg │ │ │ ├── gearbox-motor.jpg │ │ │ ├── heatsink.jpg │ │ │ ├── i2c-hub-back.jpg │ │ │ ├── i2c-hub-front.jpg │ │ │ ├── jumper-wires.jpg │ │ │ ├── kit │ │ │ │ ├── 01-car-kit05-white.jpg │ │ │ │ ├── 02-car-kit05-black.jpg │ │ │ │ ├── 03-car-kit05-top-plate.jpg │ │ │ │ └── 04-car-kit05-base-plate.jpg │ │ │ ├── motor-driver.jpg │ │ │ ├── oled-01.jpg │ │ │ ├── oled-02.jpg │ │ │ ├── oled-03.jpg │ │ │ ├── powerbank_bottom.jpg │ │ │ ├── powerbank_top.jpg │ │ │ ├── raspberry-pi-4-ports.jpg │ │ │ ├── raspberry-pi-4.jpg │ │ │ ├── rpi-camera.jpg │ │ │ ├── sdcard.jpg │ │ │ ├── speed-sensor-back.jpg │ │ │ ├── speed-sensor-front.jpg │ │ │ ├── ultrasonic-front.jpg │ │ │ └── ultrasonic-side.jpg │ │ ├── gazebo │ │ │ ├── diffbot_gazebo.png │ │ │ └── empty-world.png │ │ └── ros │ │ │ ├── ros_control │ │ │ ├── control_loop.png │ │ │ ├── gazebo_ros_control.png │ │ │ └── gazebo_ros_transmission.png │ │ │ └── urdf │ │ │ ├── joint.png │ │ │ ├── link.png │ │ │ └── robot.png │ ├── fpv │ │ ├── assembly │ │ │ ├── cam │ │ │ │ ├── runcam-swift2-back.jpg │ │ │ │ ├── runcam-swift2-frame-mount.jpg │ │ │ │ └── runcam-swift2-frame-mounted.jpg │ │ │ ├── esc │ │ │ │ ├── 01-measure-motor-phases.jpg │ │ │ │ ├── 02-cut-motor-phases.jpg │ │ │ │ ├── 03-isolate-motor-phases.jpg │ │ │ │ ├── 04-tin-motor-phases.jpg │ │ │ │ ├── 05-tin-esc.jpg │ │ │ │ ├── 06-tinned.jpg │ │ │ │ ├── 07-solder-motor-esc.jpg │ │ │ │ ├── 08-soldered.jpg │ │ │ │ ├── 09-prepare-pdb.jpg │ │ │ │ └── 10-measure-esc-wires-pdb.jpg │ │ │ ├── landing-pads │ │ │ │ ├── 01-landing-pads-close.jpg │ │ │ │ └── 02-landing-pads.jpg │ │ │ ├── motors │ │ │ │ ├── 01-motor-placement.jpg │ │ │ │ ├── 02-motor-mounting.jpg │ │ │ │ └── quad_x.svg │ │ │ ├── part-placement-rotor-side.jpg │ │ │ ├── part-placement-rotor-top.jpg │ │ │ ├── part-placement-side.jpg │ │ │ ├── part-placement-top.jpg │ │ │ ├── pdb-fc │ │ │ │ ├── 01-pdb-esc.jpg │ │ │ │ ├── 02-fc-placement.jpg │ │ │ │ ├── 03-fc.jpg │ │ │ │ └── 04-rubber-standoffs.jpg │ │ │ ├── pdb │ │ │ │ ├── 01-pdb-xt60.jpg │ │ │ │ ├── 02-tin-pdb.jpg │ │ │ │ ├── 03-tin-xt60.jpg │ │ │ │ ├── 04-solder-xt60-pdb.jpg │ │ │ │ ├── 05-pdb-xt60-result.jpg │ │ │ │ ├── 06-short-test.jpg │ │ │ │ ├── 07-smoke-test.jpg │ │ │ │ └── 08-voltage-test.jpg │ │ │ ├── rx │ │ │ │ ├── antenna │ │ │ │ │ ├── 01-antennas-zip-tie.jpg │ │ │ │ │ ├── 02-zip-tie-placement.jpg │ │ │ │ │ ├── 03-zip-tie-shrink-tubing.jpg │ │ │ │ │ ├── 04-cut-zip-tie.jpg │ │ │ │ │ ├── 05-cutted-zip-tie.jpg │ │ │ │ │ ├── 06-result.jpg │ │ │ │ │ ├── 07-result.jpg │ │ │ │ │ └── 08-result.jpg │ │ │ │ └── r-xsr │ │ │ │ │ ├── 01-r-xsr-frame-top.jpg │ │ │ │ │ ├── 02-r-xsr-remove-connection.jpg │ │ │ │ │ ├── 03-r-xsr-prepared-top.jpg │ │ │ │ │ ├── 04-r-xsr-prepared-bottom.jpg │ │ │ │ │ ├── 05-r-xsr-fc.jpg │ │ │ │ │ └── 06-r-xsr-frame.jpg │ │ │ └── vtx │ │ │ │ ├── 01-tbs-unify-pro-manual.jpg │ │ │ │ ├── 02-vtx-antenna-placement-top.jpg │ │ │ │ ├── 03-vtx-antenna-placement-bottom.jpg │ │ │ │ ├── 04-vtx-cable-preperation.jpg │ │ │ │ ├── 05-vtx-cable-prepared.jpg │ │ │ │ ├── 06-cam-pdb-vtx.jpg │ │ │ │ ├── 07-cam-pdb-fc-vtx-connected.jpg │ │ │ │ ├── 08-cam-pdb-fc-vtx-connected.jpg │ │ │ │ └── 09-vtx-antenna-placement.jpg │ │ ├── betaflight │ │ │ ├── betaflight-config-receiver.png │ │ │ └── betaflight-ports.png │ │ ├── cam │ │ │ ├── runcam-swift-2-back.jpg │ │ │ └── runcam-swift-2-top.jpg │ │ ├── components │ │ │ ├── dys-aria-35a-esc.jpg │ │ │ ├── emax-rs2205.jpg │ │ │ ├── ev-peak-cellmeter-7-battery-capacity-checker.jpg │ │ │ ├── ev-peak-cq3-4x-100w-lead_2.jpg │ │ │ ├── fatshark-hdo.jpg │ │ │ ├── mateksys-F722-STD.jpg │ │ │ ├── mateksys-fchub-6s.jpg │ │ │ ├── runcam-swift-2.jpg │ │ │ └── ultimate-fatshark-hdo-antenna-bundle.jpg │ │ ├── esc │ │ │ ├── dys-aria-esc.jpg │ │ │ └── dys-aria-escs.jpg │ │ ├── frame │ │ │ ├── frame-components-raster.jpg │ │ │ └── frame-components.jpg │ │ ├── motor │ │ │ ├── brushed-dc-motor.gif │ │ │ ├── brushless-inrunner.jpg │ │ │ ├── emax-RS2205-drawing.jpg │ │ │ ├── emax-RS2205-metrics.jpg │ │ │ ├── emax-motor-configuration.jpg │ │ │ ├── emax-motor-stator-dim.jpg │ │ │ ├── emax-motor-stator.jpg │ │ │ ├── emax-motor.jpg │ │ │ ├── emax-motors-close.jpg │ │ │ ├── emax-motors-top-raster.jpg │ │ │ ├── emax-motors-top.jpg │ │ │ └── emax-motors.jpg │ │ ├── opentx │ │ │ ├── 01-firmware-download.png │ │ │ ├── 02-firmware-download.png │ │ │ ├── 03-write-firmware.png │ │ │ ├── 04-final-write-settings.png │ │ │ ├── 05-flashing-done.png │ │ │ ├── opentx-companion-open-settings.png │ │ │ ├── opentx-companion-settings.png │ │ │ └── radio-backup.png │ │ ├── pdb │ │ │ ├── pdb-mateksys-bottom.jpg │ │ │ ├── pdb-mateksys-top-screws.jpg │ │ │ └── pdb-mateksys-top.jpg │ │ ├── receiver │ │ │ ├── bind │ │ │ │ ├── 01-model-setup.jpg │ │ │ │ ├── 02-register.jpg │ │ │ │ ├── 03-register-ok.jpg │ │ │ │ ├── 04-bind.jpg │ │ │ │ ├── 05-select-rx.jpg │ │ │ │ ├── 06-bind-ok.jpg │ │ │ │ └── 07-result.jpg │ │ │ ├── r-xsr-manual.jpg │ │ │ └── r-xsr-top.jpg │ │ ├── taranis │ │ │ ├── bl-sdcard-content.jpg │ │ │ ├── bl-sdcard-eeprom.jpg │ │ │ ├── bootloader-updated.jpg │ │ │ ├── bootloader-usb.jpg │ │ │ ├── bootloader.jpg │ │ │ ├── change-isrm-mode.jpg │ │ │ ├── copy-isrm-firmware.png │ │ │ ├── copy-lua-script.png │ │ │ ├── copy-sd-content.png │ │ │ ├── enter-bootloader.jpg │ │ │ ├── eu-lbt-mode.jpg │ │ │ ├── firmware-settings.jpg │ │ │ ├── flash-bootloader.jpg │ │ │ ├── flash-isrm.jpg │ │ │ ├── flashing-isrm-success.jpg │ │ │ ├── flashing-isrm.jpg │ │ │ ├── module-version-eu-lbt.jpg │ │ │ ├── module-version-fcc.jpg │ │ │ ├── sd-card-content-firmware.jpg │ │ │ ├── sd-card-isrm.jpg │ │ │ ├── sdcard.jpg │ │ │ ├── taranis.jpg │ │ │ ├── updated-firmware.jpg │ │ │ ├── usb-storage.jpg │ │ │ ├── version-modules.jpg │ │ │ └── version.jpg │ │ ├── telemetry │ │ │ ├── 01-telemetry-delete-all.jpg │ │ │ ├── 02-confirm-delete-all.jpg │ │ │ ├── 03-discover-new-sensors.jpg │ │ │ ├── 04-telemetry-results.jpg │ │ │ ├── 05-telemetry-results.jpg │ │ │ └── 06-telemetry-results.jpg │ │ └── throttle-curve │ │ │ ├── 01-no-curves.jpg │ │ │ ├── 02-initial-curve-settings.jpg │ │ │ ├── 03-thr-settings.jpg │ │ │ ├── 04-inputs.jpg │ │ │ ├── 05-edit-throttle-input.jpg │ │ │ ├── 06-initial-thr-input.jpg │ │ │ ├── 07-select-throttle-curve.jpg │ │ │ ├── 08-expo-throttle-setting.jpg │ │ │ └── 09-throttle-curve-channel-monitor.jpg │ └── home-automation │ │ ├── argon-driver │ │ ├── 01-argon-driver.png │ │ └── 02-argon-driver-config.png │ │ ├── buttons │ │ ├── Berker-Tenton-mix.jpg │ │ ├── berker │ │ │ ├── Berker-KNX.jpg │ │ │ ├── Berker-Q1-Q3-2.jpg │ │ │ ├── Berker-Q1-Q3-ang-view.jpg │ │ │ └── Berker-Q1-Q3.jpg │ │ ├── bj │ │ │ ├── Tenton-black.jpg │ │ │ └── Tenton-white.jpg │ │ ├── button-selection-voltus-2.jpg │ │ └── button-selection-voltus.jpg │ │ ├── components │ │ └── argon-one-m-2.jpg │ │ ├── knx-wago.jpg │ │ ├── rpi-imager │ │ ├── 01-rpi-imager-misc-utility-images.png │ │ ├── 02-rpi-imager-bootloader.png │ │ ├── 03-rpi-imager-usb-boot.png │ │ ├── rpi-imager-raspi-os-64bit.png │ │ └── rpi-imager-usb-boot.gif │ │ ├── sd-card-copier │ │ ├── 01-sd-card-copier.png │ │ ├── 02-sd-card-copier-from-to.png │ │ ├── 03-sd-card-copier-earase-true.png │ │ ├── 04-sd-card-copier-prepare.png │ │ ├── 05-sd-card-copier-copy.png │ │ └── 06-sd-card-copier-complete.png │ │ └── voltus │ │ ├── voltus-2.jpg │ │ ├── voltus-3.jpg │ │ ├── voltus-5.jpg │ │ ├── voltus-buttons.gif │ │ └── voltus.svg ├── images │ ├── 500x300.png │ ├── arduino-mkr1000-back.jpg │ ├── arduino-mkr1000-front.jpg │ ├── arduino-mkr1000.jpg │ ├── bio-photo.jpg │ ├── docker-logo.jpg │ ├── dracula-code-block.jpg │ ├── kinetic.png │ ├── melodic.jpg │ ├── noetic.png │ ├── opencv_logo.png │ └── unsplash-image-1.jpg ├── notebooks │ ├── color_scatter.html │ ├── frenet.html │ └── js_on_change.html ├── pages │ ├── design-patterns │ │ ├── abstract-factory-pattern.png │ │ ├── adapter-class-pattern.png │ │ ├── adapter-object-pattern.png │ │ ├── command-pattern.png │ │ ├── composite-pattern.png │ │ ├── decorator-pattern.png │ │ ├── facade-pattern.png │ │ ├── factory-method-pattern.png │ │ ├── iterator-pattern.png │ │ ├── observer-example.png │ │ ├── observer-pattern.png │ │ ├── proxy-pattern.png │ │ ├── singleton-pattern.png │ │ ├── state-pattern.png │ │ ├── strategy-pattern.png │ │ └── template-method-pattern.png │ └── math │ │ └── determinant.png ├── posts │ ├── 2017-10-15-unscented-kalman-filter │ │ ├── ukf-prediction.png │ │ └── ukf-update.png │ ├── 2017-10-17-ctrv-model │ │ └── ctrv-model.png │ ├── 2017-10-30-localization │ │ └── localization.png │ ├── 2017-12-03-dynamic-models │ │ ├── lat-lon-forces.png │ │ ├── slip-angle.png │ │ ├── slip-ratio-def.png │ │ ├── slip-ratio.png │ │ ├── tire-forces.png │ │ └── tire-model.png │ ├── 2017-12-03-trajectory-following │ │ ├── minimize-error.png │ │ └── trajectory-following-overview.png │ ├── 2017-12-03-vehicle-models │ │ ├── actuator-constraints.png │ │ └── nonholonomic.png │ ├── 2017-12-07-model-predictive-control │ │ ├── horizon.png │ │ ├── mpc-constraints.png │ │ └── timesteps-horizonlength.png │ ├── 2018-01-22-behavior-control │ │ ├── behavior-planning-overview.png │ │ ├── data-flow-timings.png │ │ ├── fsm.png │ │ └── timings.png │ ├── 2018-04-18-arduino-rosserial │ │ ├── arduino-add-new-usb-device.png │ │ ├── arduino_boards-manager.png │ │ ├── arduino_could-not-find-board-error-while-uploading.png │ │ ├── arduino_dialout_permission.png │ │ ├── arduino_rosserial-example.png │ │ ├── arduino_rosserial-lib.png │ │ ├── arduino_samd-boards.png │ │ ├── arduino_sucessful-upload-message.png │ │ ├── arduino_unsucessful-magic-upload.png │ │ ├── arudino-could-not-find-board-error2-new-usb.png │ │ ├── arudino_rosserial-hello-world-upload.png │ │ ├── arudino_rosserial.png │ │ ├── kinetic.png │ │ ├── ubuntu_repository-settings.png │ │ ├── virtualBox_setup03.png │ │ ├── virtualbox_setup.png │ │ └── virtualbox_setup02.png │ ├── 2018-04-22-ubuntu-1604lts-virtualbox-macOS │ │ ├── image1.png │ │ ├── image2.png │ │ ├── image3.png │ │ └── virtualbox_logo.png │ ├── 2018-04-25-arduino-mkr1000-virtualbox-mac-host │ │ ├── image1.png │ │ ├── image10.png │ │ ├── image11.png │ │ ├── image12.png │ │ ├── image13.png │ │ ├── image15_.png │ │ ├── image2.png │ │ ├── image3.png │ │ ├── image4.png │ │ ├── image5.png │ │ ├── image6.png │ │ ├── image7.png │ │ ├── image8.png │ │ └── image9.png │ ├── 2018-06-16-minimu9v5-rtimulib2 │ │ ├── RTIMULibDemoGL.png │ │ ├── calibrate-accelerometer.png │ │ ├── calibrate-magnetometer.png │ │ ├── rpiblusleaf.png │ │ └── select-imu.png │ ├── 2018-06-21-arduino-mkr1000-ros-serial │ │ └── image13.png │ ├── 2019-03-06-ros-kalman-filter │ │ ├── multiplot_config.png │ │ ├── multiplot_empty.png │ │ ├── multiplot_filtered.png │ │ ├── multiplot_traj.png │ │ ├── multiplot_unfiltered.png │ │ ├── rviz01_add_robot_model.png │ │ ├── rviz02_add_camera.png │ │ ├── rviz03_add_odom_topic.png │ │ ├── rviz04_add_ekf_topic.png │ │ ├── rviz_trajectories.png │ │ ├── turtlebot.png │ │ ├── turtlebot_ekf_rqt_graph.png │ │ ├── turtlebot_ekf_trajectory_rqt_graph.png │ │ ├── turtlebot_gazebo.png │ │ └── turtlebot_rqt_graph.png │ └── 2019-04-17-monte-carlo-localization │ │ ├── Images │ │ ├── Step0.png │ │ ├── Step1.png │ │ ├── Step10.png │ │ ├── Step11.png │ │ ├── Step12.png │ │ ├── Step13.png │ │ ├── Step14.png │ │ ├── Step15.png │ │ ├── Step16.png │ │ ├── Step17.png │ │ ├── Step18.png │ │ ├── Step19.png │ │ ├── Step2.png │ │ ├── Step20.png │ │ ├── Step21.png │ │ ├── Step22.png │ │ ├── Step23.png │ │ ├── Step24.png │ │ ├── Step25.png │ │ ├── Step26.png │ │ ├── Step27.png │ │ ├── Step28.png │ │ ├── Step29.png │ │ ├── Step3.png │ │ ├── Step30.png │ │ ├── Step31.png │ │ ├── Step32.png │ │ ├── Step33.png │ │ ├── Step34.png │ │ ├── Step35.png │ │ ├── Step36.png │ │ ├── Step37.png │ │ ├── Step38.png │ │ ├── Step39.png │ │ ├── Step4.png │ │ ├── Step40.png │ │ ├── Step41.png │ │ ├── Step42.png │ │ ├── Step43.png │ │ ├── Step44.png │ │ ├── Step45.png │ │ ├── Step46.png │ │ ├── Step47.png │ │ ├── Step48.png │ │ ├── Step49.png │ │ ├── Step5.png │ │ ├── Step6.png │ │ ├── Step7.png │ │ ├── Step8.png │ │ └── Step9.png │ │ └── particle_filters.gif ├── projects │ └── autonomous-rc-car │ │ ├── futabaS3003.jpg │ │ ├── hpi-racing-bmw-m3.png │ │ ├── hpi-racing-bmw-m3_l.png │ │ ├── hpi-racing-bmw-m3_thumb.png │ │ ├── pwm-duty.png │ │ ├── v10-spec3-17x4.pdf │ │ └── variateur_f1.pdf ├── ros │ ├── qt │ │ ├── designer.png │ │ └── qt.txt │ ├── ros-control │ │ ├── arm-controller.png │ │ ├── control-loop-extended.png │ │ ├── control-loop-simple.png │ │ ├── control-spinner-thread.png │ │ ├── control-thread.png │ │ ├── controller-lifecycle.png │ │ ├── controller-load-unload.png │ │ ├── controller-manager.png │ │ ├── controller-start-stop.png │ │ ├── controllers-and-hardware-interfaces.png │ │ ├── controllers-vs-hardware-abstraction.png │ │ ├── controllers01.png │ │ ├── controllers02.png │ │ ├── differential_transmission.png │ │ ├── e-stop-handling.png │ │ ├── exclusive-resource-ownership.png │ │ ├── four_bar_linkage_transmission.png │ │ ├── joint_limits.png │ │ ├── memory-layout-read.png │ │ ├── memory-layout-rw.png │ │ ├── robot-resources.png │ │ ├── ros-control-black-box.png │ │ ├── ros-control-overview.png │ │ ├── simple_transmission.png │ │ └── simulation-overview.png │ └── rqt_turtle │ │ ├── files.txt │ │ └── turtle_plugin_ui.png └── vector │ ├── remote_control_vector.png │ └── vector-sdk-alpha.jpg ├── blog └── index.html └── collections ├── _autonomous-rc-car ├── 2018-04-25-arduino-mkr1000-virtualbox-mac-host.markdown ├── 2018-05-21-rc-car-and-parts.markdown └── 2018-06-21-arduino-mkr1000-ros-serial.markdown ├── _cpp ├── books │ └── pppucpp.md └── cpp.md ├── _design-patterns ├── adapter-pattern.md ├── builder-pattern.md ├── command-pattern.md ├── composite-pattern.md ├── decorator-pattern.md ├── design-patterns.md ├── facade-pattern.md ├── factory-pattern.md ├── iterator-pattern.md ├── monad-pattern.md ├── mvc-pattern.md ├── observer-pattern.md ├── proxy-pattern.md ├── singleton-pattern.md ├── state-pattern.md ├── strategy-pattern.md └── template-method-pattern.md ├── _diffbot ├── 2019-11-16-diffbot.md ├── 2019-11-17-components.md ├── 2019-11-28-rpi-setup.md ├── 2019-12-05-assembly.md ├── 2019-12-05-hardware-interfaces.md ├── 2019-12-05-ros-melodic.md ├── 2019-12-06-control.md ├── 2019-12-06-ros-packages.md ├── 2019-12-07-odometry.md ├── 2019-12-12-perception.md ├── 2020-02-15-ros-integration.md ├── 2020-03-08-robot-description.md ├── 2020-08-06-theory-parts.md ├── 2020-09-24-diffbot_gazebo.md ├── 2020-10-06-ros-network.md ├── 2020-10-13-theory-planning.md ├── 2020-11-16-diffbot_navigation.md └── 2020-11-17-diffbot_navigation.md ├── _fpv ├── 2019-09-18-components.md ├── 2019-10-25-frame.md ├── 2019-10-30-motor.md ├── 2019-11-07-taranis-x9d-plus-se-2019-opentx-firmware-bootloader.md ├── 2019-11-11-assembly.md ├── 2019-11-13-r-xsr-receiver.md ├── 2019-11-18-esc.md ├── 2020-04-12-flight-controller-software.md ├── 2020-04-17-pdb.md ├── 2020-04-18-pid-lua-script.md ├── 2020-04-18-telemetry.md ├── 2020-04-19-rate-expo-settings.md ├── 2020-04-19-throttle-curves.md ├── 2020-13-05-propeller.md └── glossar.md ├── _home-automation ├── 2019-11-23-esp8266-mqtt-temperature-humidity.md ├── 2022-07-23-home-assistant-setup.md ├── 2023-02-08-voltus.md └── 2023-11-01-button-selection.md ├── _posts ├── 2020-06-24-vim.md ├── 2021-08-18-probabilistic-robotics.md ├── computer_vision │ ├── 2018-11-12-images-as-functions.md │ ├── 2024-12-27-camera-calibration-reprojection-error.md │ └── Images_as_functions.md ├── localization │ └── 2019-03-15-monte-carlo-localization.md ├── mapping │ └── 2019-06-05-occupancy-grid-mapping.md ├── operating_systems │ └── 2018-04-22-ubuntu-1604lts-virtualbox-macOS.md ├── path_planning │ └── 2018-08-25-optimal-frenet.md ├── ros │ ├── 2019-03-06-ros-kalman-filter.md │ └── 2020-03-13-ros-controls.md ├── self-driving │ ├── 2017-10-17-ctrv-model.md │ ├── 2017-10-30-localization.md │ ├── 2017-10-30-self-driving-history.md │ ├── 2017-12-03-dynamic-models.md │ ├── 2017-12-03-pid-control.md │ ├── 2017-12-03-trajectory-following.md │ ├── 2017-12-03-vehicle-models.md │ ├── 2017-12-07-model-predictive-control.md │ └── 2018-01-08-path-planning.md ├── sensors │ └── 2018-06-19-minimu9v5-rtimulib2.md ├── slam │ └── 2019-04-23-gmapping.md ├── state_estimation │ ├── 2017-10-15-unscented-kalman-filter.markdown │ ├── 2019-02-28-kalman-filter.md │ └── 2019-03-06-extended-kalman-filter.md ├── tooling │ ├── 2018-08-25-bokeh-ipython-jekyll.md │ └── 2020-06-19-docker-basics.md └── vector │ └── 2020-09-18-vector.md ├── _projects ├── 2022-07-23-home-automation.md ├── autonomous_rc_car.md └── fpv_race_quad.md └── _ros ├── 2020-08-23-rqt-turtle.md └── 2020-09-02-turtle-pong.md /.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | custom: https://www.paypal.me/fpucher 2 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/documentation.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "Documentation" 3 | about: "Found a typo or something that needs clarification?" 4 | --- 5 | 6 | 7 | 8 | ## Motivation 9 | 10 | 11 | 12 | 13 | 14 | ## Suggestion 15 | 16 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "Enhancement / Feature Request" 3 | about: "What would make this theme better?" 4 | --- 5 | 6 | 10 | 11 | ## Summary 12 | 13 | 16 | 17 | ## Motivation 18 | 19 | 27 | 28 | ## Drawbacks 29 | 30 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/support.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: "Question" 3 | about: "Having trouble working with the theme?" 4 | --- 5 | 6 | 22 | 23 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | ## Summary 17 | 18 | 21 | 22 | ## Context 23 | 24 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Vim 2 | *~ 3 | *.sw[p_] 4 | 5 | # Sublime Text 6 | *.sublime-project 7 | *.sublime-workspace 8 | 9 | # Ruby Gem 10 | *.gem 11 | .bundle 12 | Gemfile.lock 13 | **/vendor/bundle 14 | 15 | # Node.js and NPM 16 | node_modules 17 | npm-debug.log* 18 | package-lock.json 19 | codekit-config.json 20 | 21 | # macOS 22 | .DS_Store 23 | 24 | # Jekyll generated files 25 | .jekyll-cache 26 | .jekyll-metadata 27 | .sass-cache 28 | _asset_bundler_cache 29 | _site 30 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "_includes/repos/pppucpp"] 2 | path = _includes/repos/pppucpp 3 | url = https://github.com/fjp/ppp.git 4 | [submodule "collections/_2wd-robot/diffbot"] 5 | path = collections/_diffbot/diffbot 6 | url = https://github.com/fjp/diffbot.git 7 | branch = noetic-devel 8 | [submodule "_includes/repos/frenet"] 9 | path = _includes/repos/frenet 10 | url = https://github.com/fjp/frenet.git 11 | -------------------------------------------------------------------------------- /CNAME: -------------------------------------------------------------------------------- 1 | fjp.at -------------------------------------------------------------------------------- /Gemfile: -------------------------------------------------------------------------------- 1 | source "https://rubygems.org" 2 | 3 | gem "github-pages", group: :jekyll_plugins 4 | 5 | gem "jekyll-jupyter-notebook" 6 | 7 | gem 'jekyll-include-cache' 8 | 9 | gem 'jekyll_github_sample' 10 | 11 | gem 'jekyll-redirect-from' 12 | 13 | gem "webrick", "~> 1.8" 14 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2013-2020 Michael Rose and contributors 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /_includes/archive-single.html: -------------------------------------------------------------------------------- 1 | {% if post.header.teaser %} 2 | {% capture teaser %}{{ post.header.teaser }}{% endcapture %} 3 | {% else %} 4 | {% assign teaser = site.teaser %} 5 | {% endif %} 6 | 7 | {% if post.id %} 8 | {% assign title = post.title | markdownify | remove: "

" | remove: "

" %} 9 | {% else %} 10 | {% assign title = post.title %} 11 | {% endif %} 12 | 13 |
14 |
15 | {% if include.type == "grid" or teaser %} 16 |
17 | 18 |
19 | {% endif %} 20 |

21 | {% if post.link %} 22 | {{ title }} Permalink 23 | {% else %} 24 | {{ title }} 25 | {% endif %} 26 |

27 | {% include page__meta.html type=include.type %} 28 | {% if post.excerpt %}

{{ post.excerpt | markdownify | strip_html | truncate: 160 }}

{% endif %} 29 |
30 |
-------------------------------------------------------------------------------- /_includes/cookie-consent.html: -------------------------------------------------------------------------------- 1 | 9 | 10 | 47 | -------------------------------------------------------------------------------- /_includes/footer/custom.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /_includes/footer/head-first-design-patterns.md: -------------------------------------------------------------------------------- 1 | ## Reference 2 | 3 | {% raw %} 4 | 5 | 6 | 7 | {% endraw %} 8 | 9 | Buy 10 | - [Oreilly Shop](http://shop.oreilly.com/product/9780596007126.do) 11 | - [Amazon Germany](https://amzn.to/39N7PCd) 12 | - [Amazon US](https://www.amazon.com/Head-First-Design-Patterns-Brain-Friendly/dp/0596007124/ref=sr_1_2?keywords=design+patterns&qid=1578506555&sr=8-2) 13 | 14 | The code examples for the single patterns are from the book [Head First Design Patterns](https://amzn.to/2lJjduN) 15 | and can be found on their [GitHub page](https://github.com/bethrobson/Head-First-Design-Patterns). 16 | -------------------------------------------------------------------------------- /_includes/notebook: -------------------------------------------------------------------------------- 1 | 6 | 7 | 11 | -------------------------------------------------------------------------------- /_includes/pseudocode.html: -------------------------------------------------------------------------------- 1 | 4 |
5 | 13 | -------------------------------------------------------------------------------- /_pages/about.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: About 4 | permalink: /about/ 5 | author_profile: true 6 | header: 7 | overlay_image: /assets/images/unsplash-image-1.jpg 8 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 9 | caption: "Photo credit: [**Unsplash**](https://unsplash.com)" 10 | --- 11 | 12 | Hi, I'm Franz! I hold a master's degree in Electrical and Computer Engineering from TU Munich. Currently, I work as a software engineer at Leica Geosystems, where I develop advanced software features for high-end 3D laser scanners, focusing on scanning and imaging technologies used in the surveying industry. Previously, I worked at Oculytics GmbH, implementing AI-based machine vision solutions for industries like food production and beyond. 13 | 14 | I’ve also had experience working on trajectory planning for autonomous vehicles. My passions include robotics, software development, control theory, and microcontrollers. In my spare time, I enjoy working on [mobile robots](https://fjp.at/projects/diffbot/) to combine and expand my expertise in these areas. 15 | 16 | [![remo fusion animation](https://raw.githubusercontent.com/ros-mobile-robots/ros-mobile-robots.github.io/main/docs/resources/remo/remo_fusion_animation.gif)](https://youtu.be/6aAEbtfVbAk) 17 | 18 | If you enjoy my content please consider [supporting me](https://paypal.me/fpucher) for keeping the website updated and creating new projects: 19 | 20 | [:octocat: Github Sponsorship :heart: ](https://github.com/sponsors/fjp) 21 | 22 | [![Support via PayPal](https://cdn.rawgit.com/twolfson/paypal-github-button/1.0.0/dist/button.svg)](https://paypal.me/fpucher) 23 | -------------------------------------------------------------------------------- /_pages/ads.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Advertisment" 4 | permalink: /ads/ 5 | author_profile: false 6 | --- 7 | 8 | Please turn your AdBlocker off to see the adds. 9 | 10 | ## AfB 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | ## Aliexpress 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | ## SiteLock 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | [awin](http://convertalink.awin.com/) 55 | -------------------------------------------------------------------------------- /_pages/diffbot.md: -------------------------------------------------------------------------------- 1 | --- 2 | title: diffbot 3 | permalink: /diffbot 4 | redirect_to: 5 | - https://ros-mobile-robots.github.io/ 6 | --- -------------------------------------------------------------------------------- /_pages/math/math.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Mathematics 4 | permalink: /math/ 5 | excerpt: "Awesome list on mathematical topics" 6 | header: 7 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 8 | #overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 9 | #caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 10 | #show_overlay_excerpt: true 11 | sidebar: 12 | nav: "math" 13 | author_profile: false 14 | --- 15 | 16 | ## Introduction 17 | 18 | The following list divides mathematics into some of its categories. Each link 19 | leads you to a different [![Awesome](https://awesome.re/badge.svg)](https://awesome.re) list that contains great resources about that specific topic. 20 | 21 | - [Linear algebra](/math/linear-algebra) 22 | - [Calculus]() 23 | - [Optimization](/math/optimization-lagrange-multipliers) 24 | -------------------------------------------------------------------------------- /_pages/sitemap.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: archive 3 | title: "Sitemap" 4 | permalink: /sitemap/ 5 | author_profile: false 6 | --- 7 | 8 | A list of all the posts and pages found on the site. For you robots out there is an [XML version]({{ "sitemap.xml" | relative_url }}) available for digesting as well. 9 | 10 |

Pages

11 | {% for post in site.pages %} 12 | {% include archive-single.html %} 13 | {% endfor %} 14 | 15 |

Posts

16 | {% for post in site.posts %} 17 | {% include archive-single.html %} 18 | {% endfor %} 19 | 20 | {% capture written_label %}'None'{% endcapture %} 21 | 22 | {% for collection in site.collections %} 23 | {% unless collection.output == false or collection.label == "posts" %} 24 | {% capture label %}{{ collection.label }}{% endcapture %} 25 | {% if label != written_label %} 26 |

{{ label }}

27 | {% capture written_label %}{{ label }}{% endcapture %} 28 | {% endif %} 29 | {% endunless %} 30 | {% for post in collection.docs %} 31 | {% unless collection.output == false or collection.label == "posts" %} 32 | {% include archive-single.html %} 33 | {% endunless %} 34 | {% endfor %} 35 | {% endfor %} 36 | -------------------------------------------------------------------------------- /ads.txt: -------------------------------------------------------------------------------- 1 | google.com, pub-2214309606626131, DIRECT, f08c47fec0942fa0 -------------------------------------------------------------------------------- /assets/collections/diffbot/assembly-v2/01-motor-frame/01-motor-frame.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fjp/fjp.github.io/22d8a3c519be00ad9491e59296237c0ce9e43abd/assets/collections/diffbot/assembly-v2/01-motor-frame/01-motor-frame.jpg 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-------------------------------------------------------------------------------- /blog/index.html: -------------------------------------------------------------------------------- 1 | --- 2 | layout: archive 3 | title: Blog 4 | # author_profile: true 5 | header: 6 | overlay_image: /assets/images/unsplash-image-1.jpg 7 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 8 | caption: "Photo credit: [**Unsplash**](https://unsplash.com)" 9 | --- 10 | 11 | 12 | 13 |

{{ site.data.ui-text[site.locale].recent_posts | default: "Recent Posts" }}

14 | 15 | {% if paginator %} 16 | {% assign posts = paginator.posts %} 17 | {% else %} 18 | {% assign posts = site.posts %} 19 | {% endif %} 20 | 21 | {% for post in posts %} 22 | {% include archive-single.html %} 23 | {% endfor %} 24 | 25 | {% include paginator.html %} 26 | -------------------------------------------------------------------------------- /collections/_autonomous-rc-car/2018-06-21-arduino-mkr1000-ros-serial.markdown: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Arduino MKR1000 and rosserial servo control" 4 | permalink: /projects/autonomous-rc-car/rosserial/ 5 | excerpt: "Use the Arduino MKR1000 together with rosserial for steering a servo." 6 | date: 2018-06-21 22:56:20 +0200 7 | categories: [arduino, ros, servos, control] 8 | tags: [arduino, mkr1000, ros, servos, control, actuator] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | #classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/projects/autonomous-rc-car/futabaS3003.jpg 16 | overlay_image: /assets/projects/autonomous-rc-car/pwm-duty.png 17 | redirect_from: 18 | - /projects/autonomous-rc-car/ 19 | --- 20 | 21 | 22 | ## Introduction 23 | 24 | This project aims to build a self driving rc car equipped with a Raspberry Pi 3 B+ running ROS and an Arduino MKR1000 to control the motor and the servo for steering. To find its way around it uses a camera. The project is split into four parts, to adress the following main components of the robot. 25 | 26 | Arduino MKR1000 responsible for the low level control. 27 | Raspbery Pi 3 B+ running ROS to perceive the environment and act accordingly. 28 | The rc vehicle and its parts 29 | System integration: combining the components. 30 | 31 | In this part I will explore the MKR1000 and its capabilities using the Serial connection with a library called [rosserial](http://wiki.ros.org/rosserial). This library provides a client library called rosserial_arduino. It allows us to get ros nodes up and running easily. 32 | 33 | ## Prerequisites 34 | 35 | Ubuntu 16.04 including Arduino IDE and ROS Kinetic. 36 | 37 | For a How-To on installing the Arduino IDE, connecting the Arduino MKR1000 to your computer and uploading the rosserial hello world sketch, checkout [this blog post](/projects/autonomous-rc-car/arduino-mkr1000/). 38 | 39 | 40 | ## Hardware 41 | 42 | I am going to work with two servos: 43 | 44 | - Tower Pro Micro Servo 99 SG90 [datasheet](http://www.ee.ic.ac.uk/pcheung/teaching/DE1_EE/stores/sg90_datasheet.pdf). 45 | - Futaba S3003 [datasheet](http://www.es.co.th/schemetic/pdf/et-servo-s3003.pdf). 46 | 47 | ## Servo Example 48 | 49 | To our convenience there is already a servo example available from the arduino rosserial library. To start the upload, go to the following menu. 50 | 51 | {% include figure image_path="/assets/posts/2018-06-21-arduino-mkr1000-ros-serial/image13.png" caption="Servo - Arduino rosserial" %} 52 | -------------------------------------------------------------------------------- /collections/_cpp/books/pppucpp.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Programming Principles and Practice using C++ 4 | permalink: /pppucpp/ 5 | excerpt: "Solutions of the C++ book: Proramming Principles and Practice using C++" 6 | categories: [programming, cpp, book] 7 | tags: [programming, cpp, bjarne, stroustrup, principles, practice] 8 | comments: true 9 | use_math: true 10 | toc: false 11 | # toc_label: "Unscented Kalman Filter" 12 | classes: wide 13 | header: 14 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 15 | #overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 16 | #caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 17 | #show_overlay_excerpt: true 18 | sidebar: 19 | nav: "pppucpp" 20 | author_profile: false 21 | --- 22 | 23 | ## Introduction 24 | 25 | 26 | 27 | 28 | The solutions can also be read on Read the docs: [![Documentation Status](https://readthedocs.org/projects/programming-principles-and-pratice-using-c/badge/?version=latest)](https://programming-principles-and-pratice-using-c.readthedocs.io/en/latest/?badge=latest) 29 | 30 | 31 | {% include repos/pppucpp/docs/index.rst %} 32 | {% include repos/pppucpp/ch1-computers_people_and_programming/README.md %} 33 | -------------------------------------------------------------------------------- /collections/_design-patterns/builder-pattern.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: The Builder Pattern 4 | permalink: /design-patterns/builder 5 | excerpt: "The builder design pattern summarized." 6 | date: 2019-07-25 15:41:35 +0200 7 | categories: [programming, design patterns] 8 | tags: [programming, design patterns, builder, pattern, creational] 9 | comments: true 10 | use_math: true 11 | toc: false 12 | # toc_label: "Unscented Kalman Filter" 13 | classes: wide 14 | header: 15 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 16 | #overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 17 | #caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 18 | #show_overlay_excerpt: true 19 | #teaser: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3_thumb.png 20 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 21 | redirect_from: 22 | - /design-patterns/ 23 | sidebar: 24 | nav: "design-patterns" 25 | author_profile: false 26 | --- 27 | 28 |

29 | The Builder Pattern . 30 |

31 | {: .notice} 32 | -------------------------------------------------------------------------------- /collections/_design-patterns/monad-pattern.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: The Monad Pattern 4 | permalink: /design-patterns/monad 5 | excerpt: "The monad design pattern summarized." 6 | date: 2019-07-26 15:41:35 +0200 7 | categories: [programming, design patterns] 8 | tags: [programming, design patterns, monad, pattern, functional] 9 | comments: true 10 | use_math: true 11 | toc: false 12 | # toc_label: "Unscented Kalman Filter" 13 | classes: wide 14 | header: 15 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 16 | #overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 17 | #caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 18 | #show_overlay_excerpt: true 19 | #teaser: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3_thumb.png 20 | #overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 21 | redirect_from: 22 | - /design-patterns/ 23 | sidebar: 24 | nav: "design-patterns" 25 | author_profile: false 26 | --- 27 | 28 |

29 | The Monad Pattern is a design pattern in functional programming. 30 |

31 | {: .notice} 32 | -------------------------------------------------------------------------------- /collections/_diffbot/2019-12-05-hardware-interfaces.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Hardware Interfaces 4 | permalink: /projects/diffbot/hardware-interfaces/ 5 | excerpt: "Hardware Interfaces on Raspberry Pi 4 for an autonomous 2WD Robot running ROS melodic to sense and act in an environment." 6 | date: 2019-12-05 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, melodic, raspberry, pi, autonomous, ubuntu, bionic, hardware, interface] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/components/bread-board-gpio-extension.jpg 16 | overlay_image: /assets/collections/diffbot/components/bread-board-gpio-extension.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | redirect_to: https://ros-mobile-robots.com/hardware-interfaces/ 23 | --- 24 | -------------------------------------------------------------------------------- /collections/_diffbot/2019-12-05-ros-melodic.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - ROS Noetic 4 | permalink: /projects/diffbot/ros-noetic/ 5 | excerpt: "ROS Noetic Setup on Raspberry Pi 4 for an autonomous 2WD Robot running ROS melodic to sense and act in an environment." 6 | date: 2019-12-05 09:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, robot, ros, noetic, raspberry, pi, autonomous, ubuntu, focal fossa] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/images/noetic.png 16 | overlay_image: /assets/images/noetic.png 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | caption: "Source: [**ROS Noetic**](http://wiki.ros.org/noetic)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | The following guide shows how to setup [ROS Noetic](http://wiki.ros.org/noetic) and other important tools specific to ROS. 25 | 26 | ## Setup ROS Noetic 27 | 28 | The ROS distribution Noetic is supported by Ubuntu 20.04 which is why we are going to install it. 29 | Instructions can be found on the offical [ROS documentation](http://wiki.ros.org/noetic/Installation/Ubuntu). 30 | Just follow these instructions and choose this configuration: `Desktop-Full Install: (Recommended)`. 31 | Although it is overkill, it will provide all examples that you might want to try. 32 | 33 | {% include_relative {{ page.collection }}/docs/ros-setup.md %} 34 | 35 | 36 | ## ROS Style Guide 37 | 38 | The project follows [ROS conventions](http://wiki.ros.org/ROS/Patterns/Conventions) and the [style guide](http://wiki.ros.org/PyStyleGuide) from ROS in writing Python code. 39 | 40 | -------------------------------------------------------------------------------- /collections/_diffbot/2019-12-06-control.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Control Package 4 | permalink: /projects/diffbot/ros-packages/control/ 5 | excerpt: "ROS Control Package for ROS Noetic running on a Raspberry Pi 4 for an autonomous 2WD Robot to act in an environment according to sensor information." 6 | date: 2019-12-05 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, melodic, raspberry, pi, autonomous, ubuntu, bionic, package, control] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 16 | overlay_image: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | ROS Control Package for ROS Melodic running on a Raspberry Pi 4 for an autonomous 2WD Robot 25 | to act in an environment according to sensor information. 26 | 27 | 28 | {% include_relative diffbot/docs/diffbot_control.md %} 29 | 30 | {% include_relative diffbot/docs/grove_motor_driver.md %} 31 | 32 | {% include_relative diffbot/docs/DG01D-E-motor-with-encoder.md %} 33 | -------------------------------------------------------------------------------- /collections/_diffbot/2019-12-07-odometry.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Odometry Package 4 | permalink: /projects/diffbot/ros-packages/odometry/ 5 | excerpt: "ROS Odometry Package for ROS Noetic running on a Raspberry Pi 4 for an autonomous 2WD Robot to localize itself." 6 | date: 2019-12-07 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, robot, ros, noetic, raspberry, pi, autonomous, ubuntu, focal, package, perception, speed, sensor, odometry, localization] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/components/speed-sensor-front.jpg 16 | overlay_image: /assets/collections/diffbot/components/speed-sensor-front.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | ROS packages for ROS Noetic related to [odometry](https://en.wikipedia.org/wiki/Odometry) running on a Raspberry Pi 4 B for an autonomous 2WD Robot. 25 | 26 | ## ROS Packages 27 | 28 | {% include_relative diffbot/docs/lm393_speed_sensor.md %} 29 | -------------------------------------------------------------------------------- /collections/_diffbot/2019-12-12-perception.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Perception Package 4 | permalink: /projects/diffbot/ros-packages/perception/ 5 | excerpt: "ROS Perception Package for ROS Melodic running on a Raspberry Pi 4 for an autonomous 2WD Robot to act in an environment according to sensor information." 6 | date: 2019-12-12 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, melodic, raspberry, pi, autonomous, ubuntu, bionic, package, perception, ultrasonic, ranger, camera] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/components/rpi-camera.jpg 16 | overlay_image: /assets/collections/diffbot/components/rpi-camera.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | ROS packages for ROS Melodic related to perception running on a Raspberry Pi 4 B for an autonomous 2WD Robot to sense in the environment. 25 | 26 | {% include_relative diffbot/docs/grove_ultrasonic_ranger.md %} 27 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-03-08-robot-description.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Robot Description Package 4 | permalink: /projects/diffbot/ros-packages/robot-description/ 5 | excerpt: "ROS Robot Description Package for ROS Melodic running on a Raspberry Pi 4 for an autonomous 2WD Robot to act in an environment according to sensor information." 6 | date: 2019-12-05 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, melodic, raspberry, pi, autonomous, ubuntu, bionic, package, urdf, xacro] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/ros/urdf/robot.png 16 | overlay_image: /assets/collections/diffbot/ros/urdf/robot.png 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | ROS Robot Description Package for ROS Melodic running on a Raspberry Pi 4 for an autonomous 2WD Robot 25 | to act in an environment according to sensor information. 26 | 27 | 28 | {% include_relative diffbot/docs/robot-description.md %} 29 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-09-24-diffbot_gazebo.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Gazebo Package 4 | permalink: /projects/diffbot/ros-packages/gazebo/ 5 | excerpt: "ROS Gazebo Package for ROS Melodic running on a Raspberry Pi 4 for an autonomous 2WD Robot to act in an environment according to sensor information." 6 | date: 2020-09-24 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, noetic, raspberry, pi, autonomous, ubuntu, focal, package, gazebo, simulation] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 16 | overlay_image: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | redirect_to: https://ros-mobile-robots.com/diffbot_gazebo/ 23 | --- 24 | 25 | Gazebo simulation package for ROS Noetic running on a Raspberry Pi 4 for an autonomous 2WD Robot 26 | to act in an environment according to sensor information. 27 | 28 | 29 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-10-06-ros-network.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - ROS Network Setup 4 | permalink: /projects/diffbot/ros-network/ 5 | excerpt: "ROS Noetic Network Setup between a Work Machine and ROS running on a Raspberry Pi 4 for an autonomous 2WD Robot." 6 | date: 2019-12-07 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, robot, ros, noetic, raspberry, pi, autonomous, ubuntu, focal, fossa, package, network, setup, diffbot] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/network/network.jpg 16 | overlay_image: /assets/collections/diffbot/network/network.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | 25 | {% include_relative diffbot/docs/ros-network-setup.md %} 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-10-13-theory-planning.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Theory and Planning 4 | permalink: /projects/diffbot/theory/ 5 | excerpt: "Theory behind an autonomous 2WD Robot equipped with a Raspberry Pi 4 B running ROS Noetic to sense and act in an environment." 6 | date: 2020-10-13 09:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, noetic, raspberry, pi, autonomous, sensors, theory] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | # classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/components/components.jpg 16 | overlay_image: /assets/collections/diffbot/components/components.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | {% include_relative diffbot/docs/power-supply.md %} 25 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-11-16-diffbot_navigation.md: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /collections/_diffbot/2020-11-17-diffbot_navigation.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous 2WD Robot - Navigation Package 4 | permalink: /projects/diffbot/ros-packages/navigation/ 5 | excerpt: "ROS Navigation Package for ROS Noetic running on a Raspberry Pi 4 for an autonomous 2WD Robot to act in an environment according to sensor information." 6 | date: 2020-11-17 08:00:35 +0100 7 | categories: [robotics] 8 | tags: [2wd, differential drive, robot, ros, noetic, raspberry, pi, autonomous, ubuntu, focal, package, gazebo, simulation, hardware_interfacem, hardware, interface, ros-control, control, controllers, diff_drive_controller, navigation stack, amcl] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 16 | overlay_image: /assets/collections/diffbot/assembly/motor-driver/01-motor-driver.jpg 17 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 18 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 19 | show_overlay_excerpt: true 20 | sidebar: 21 | nav: diffbot 22 | --- 23 | 24 | Navigation package for ROS Noetic running on a Raspberry Pi 4 for an autonomous 2WD Robot 25 | to act in an environment according to sensor information. 26 | 27 | 28 | {% include_relative diffbot/docs/diffbot_navigation.md %} 29 | -------------------------------------------------------------------------------- /collections/_fpv/2020-04-17-pdb.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "The Power Distribution Board" 4 | permalink: /projects/fpv/pdb 5 | excerpt: "The Power Distribution Board (PDB) distributes power from the battery to the rest of a copter's components." 6 | date: 2019-11-18 09:00:35 +0100 7 | categories: [fpv, quad] 8 | tags: [fpv, quad, race, drone, power, distribution, board, battery, power supply] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/fpv/components/mateksys-fchub-6s.jpg 16 | overlay_image: /assets/collections/fpv/components/mateksys-fchub-6s.jpg 17 | overlay_filter: 0.5 18 | caption: "Source: [MATEKSYS FCHUB-6S](http://www.mateksys.com/?portfolio=fchub-6s)" 19 | redirect_from: 20 | - /projects/fpv/ 21 | sidebar: 22 | nav: "fpv" 23 | --- 24 | 25 | In small drones it is not always possible to provide power via different wiring harness, 26 | additional devices like [UBEC](/projects/fpv/glossar#ubec) or further voltage regulators. 27 | Instead, in such cases a space-saving component is used, known as 28 | [Power Distribution Board](/projects/fpv/glossar#power-distribution-board) (PDB) which takes care of distributing the energy 29 | from the battery to all other parts of a copter. 30 | 31 |
32 | 33 |
Power Distribution Board with connectors for the ESCs and other 12 and 5 volt components.
34 |
35 | 36 | This device is specifically designed to operate in small drones because of its small form factor and variety of connectivity options. First and most important is the battery connection, which is where the flight battery is connected and the power is distributed. The second important connection is to the ESCs. These connections are soldered to the PDB. 37 | Depending on its specification level, a PDB has further connections for FPV sender and LEDs, which partly operate on different voltage levels. Therefore, PDBs exhibit different voltage outputs such as 5 volt and 12 volt. 38 | 39 | When selecting a PDB the highest possible current load has to be respected. During a FPV race often high currents are flowing which can be above 100 A. In case a PDB tolerates only 80 A it will heat up during a race which can damage 40 | the PDB and then lead to a crash. Therefore keep the maximum current draw of the motors in mind and that the selected PDB 41 | can handle it. 42 | {: .notice } 43 | -------------------------------------------------------------------------------- /collections/_fpv/2020-04-18-pid-lua-script.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Taranis X9D Plus SE 2019 - PID Tuning Lua Script" 4 | permalink: /projects/fpv/pid-lua-script 5 | excerpt: "Setting up PID Tuning via a Lua Script on the Taranis X9D Plus SE 2019." 6 | date: 2020-04-18 09:00:35 +0100 7 | categories: [fpv, quad] 8 | tags: [fpv, quad, race, drone, betaflight, radio, tuning, pid, lua, script] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/fpv/taranis/taranis.jpg 16 | overlay_image: /assets/collections/fpv/taranis/bootloader.jpg 17 | overlay_filter: 0.5 18 | redirect_from: 19 | - /projects/fpv/ 20 | sidebar: 21 | nav: "fpv" 22 | --- 23 | 24 | ## Lua Script 25 | 26 | https://github.com/betaflight/betaflight-tx-lua-scripts 27 | 28 | ## Betaflight Configuration 29 | 30 | 31 |
32 | 33 |
Configure the Flight Controller.
34 |
35 | -------------------------------------------------------------------------------- /collections/_fpv/2020-04-19-rate-expo-settings.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Taranis X9D Plus SE 2019 - Telemetry" 4 | permalink: /projects/fpv/rate-expo-settings 5 | excerpt: "All about RC Rate and EXPO for the RC transmitter." 6 | date: 2020-04-19 09:00:35 +0100 7 | categories: [fpv, quad] 8 | tags: [fpv, quad, race, drone, betaflight, radio, transmitter, fport, rc rate, expo, exponential, settings] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/fpv/taranis/taranis.jpg 16 | overlay_image: /assets/collections/fpv/taranis/bootloader.jpg 17 | overlay_filter: 0.5 18 | redirect_from: 19 | - /projects/fpv/ 20 | sidebar: 21 | nav: "fpv" 22 | --- 23 | 24 | 25 | 26 |
27 | 28 |
Configure the Flight Controller.
29 |
30 | 31 | 32 | ## References 33 | 34 | - [Oscar Liang](https://oscarliang.com/rc-roll-pitch-yaw-rate-cleanflight/) 35 | -------------------------------------------------------------------------------- /collections/_fpv/2020-13-05-propeller.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "The Propeller" 4 | permalink: /projects/fpv/propeller 5 | excerpt: "The Propeller transforms the energy from the battery into velocity." 6 | date: 2020-05-13 09:00:35 +0100 7 | categories: [fpv, quad] 8 | tags: [fpv, quad, race, drone, propeller, props] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/fpv/components/propellers.jpg 16 | overlay_image: /assets/collections/components/propellers.jpg 17 | overlay_filter: 0.5 18 | redirect_from: 19 | - /projects/fpv/ 20 | sidebar: 21 | nav: "fpv" 22 | --- 23 | 24 | A race quad-copter requires propellers to translate the stored energy of the battery into kinematic energy. 25 | The structure of propellers are comparable to the wings of an airplane, which provides uplift when moving forward 26 | and lifts the plane off the ground. 27 | 28 |
29 | 30 |
Propellers.
31 |
32 | 33 | The propeller causes a similar effect with the difference that not the whole plane needs to move forward. 34 | Instead, the uplift is created through the rotation of the propeller similar to a helicopter. 35 | 36 | ## Plastic, Fiberglass or Carbon 37 | 38 | Propellers can consisto of different materials. Small and in general inexpensive propellers are made of conventional plastic (e.g. EPP propellers). 39 | Improve quality of propellers is achieved through addition of carbon fiber or fiberglass. Propeller materials mixed of carbon- and fiberglass exist too. 40 | The best quality comes with a propeller consisting of pure carbon fiber because they are very light and highly efficient. Because of its 41 | expensive material and manufacturing process it is more expensive compared to a traditional plastic propeller. 42 | 43 | References: 44 | 45 | - http://wiki.mikrokopter.de/en/Propeller 46 | 47 | -------------------------------------------------------------------------------- /collections/_home-automation/2019-11-23-esp8266-mqtt-temperature-humidity.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: ESP8266 MQTT Temperature Humidity 4 | permalink: /projects/home-automation/esp8266-dht 5 | excerpt: "Home Automation with the ESP8288 as MQTT Client that publishes temperature and humidity using a DHT22 sensor." 6 | date: 2019-11-16 09:00:35 +0100 7 | categories: [home automation] 8 | tags: [home, automation, esp, esp8266, raspberry, pi, mqtt, sensors, dht] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | # classes: wide 13 | header: 14 | # overlay_image: /assets/collections/2wd-robot/car-kit05.jpg 15 | # teaser: /assets/collections/2wd-robot/car-kit05.jpg 16 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 17 | caption: Robot Car Kit 05 18 | show_overlay_excerpt: true 19 | sidebar: 20 | nav: "home-automation" 21 | --- 22 | 23 | 24 | -------------------------------------------------------------------------------- /collections/_posts/path_planning/2018-08-25-optimal-frenet.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Trajectory Planning in the Frenet Space" 4 | date: 2018-08-25 17:31:41 +0200 5 | excerpt: "Planning mobile robot trajectories in structured environments using a reference path and Frenet coordinates." 6 | permalink: /posts/optimal-frenet/ 7 | categories: [robotics, trajectory planning, algorithms] 8 | tags: [robotics, trajectory, algorithms, planning, frenet, coordinates, path] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/posts/2017-12-03-trajectory-following/minimize-error.png 16 | overlay_image: /assets/posts/2017-12-03-trajectory-following/minimize-error.png #keep it square 200x200 px is good 17 | caption: "Source: [Udacity self driving car ND](https://classroom.udacity.com/nanodegrees/nd013/parts/40f38239-66b6-46ec-ae68-03afd8a601c8/modules/f1820894-8322-4bb3-81aa-b26b3c6dcbaf/lessons/af4fcd4f-eb1f-43d8-82b3-17bb1e71695f/concepts/e0c4c6fd-18e6-45b4-bdb8-867909908119)" 18 | --- 19 | 20 | 21 | {% include repos/frenet/README.md %} 22 | 23 | ## Python Code in Jupyter Notebook 24 | 25 | {% include notebook path="/assets/notebooks/frenet.html" %} 26 | -------------------------------------------------------------------------------- /collections/_posts/self-driving/2017-10-30-localization.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Localization" 4 | date: 2017-10-30 20:10:12 +0200 5 | categories: [self-driving, localization, basics] 6 | excerpt: "Virtualbox on macOS" 7 | tags: [self-driving, udacity, localization] 8 | use_math: true 9 | toc: true 10 | # toc_label: "Unscented Kalman Filter" 11 | header: 12 | teaser: /assets/posts/2017-10-30-localization/localization.png 13 | overlay_image: /assets/posts/2017-10-30-localization/localization.png 14 | caption: "Source: [Udacity self driving car ND](https://classroom.udacity.com/nanodegrees/nd013/parts/40f38239-66b6-46ec-ae68-03afd8a601c8/modules/2c318113-724b-4f9f-860c-cb334e6e4ad7/lessons/3b114d0b-36bd-4006-b48a-dcc6b1fb7d5d/concepts/0884e9b2-8b20-4b91-aa66-d7dbb665666d)" 15 | --- 16 | 17 | Localization answers the following question: 18 | 19 | Where is a car in a given map with a specified accuracy, about 10 cm or less. 20 | 21 | GPS is commonly used to find a car with respect to the given map. However, GPS on its own 22 | is not precise enough. Most of the time GPS has an accuracy of a width of a lane, about one to three meters. 23 | Sometimes it can even be as broad as 10 to 50 meters. 24 | 25 | To improve the localization reliability other onboard sensors of the self-driving vehicle are utilized in combination with a detailed map. 26 | With the onboard sensor it is possible to measure distances to static obstacles, like trees poles or walls, which can be part of the map. These distances are measured 27 | in the local coordinate system of the vehicle. 28 | 29 | To estimate where the car is in the map it is necessary to match the observations with the map information. 30 | This results in a transformation between both coordinates systems, the local car coordinate system and the coordinate system of the map. 31 | 32 | The localization issue is solved if it is possible to estimate this transformation. 33 | 34 | To sum up: 35 | 36 | Onboard sensors are used to estimate a transformation between measurements and a given map. 37 | 38 | 39 | 40 | 41 | {% include figure image_path="/assets/posts/2017-10-30-localization/localization.png" caption="Localizing a Self Driving Car (Source: [Udacity self driving car ND](https://classroom.udacity.com/nanodegrees/nd013/parts/40f38239-66b6-46ec-ae68-03afd8a601c8/modules/2c318113-724b-4f9f-860c-cb334e6e4ad7/lessons/3b114d0b-36bd-4006-b48a-dcc6b1fb7d5d/concepts/0884e9b2-8b20-4b91-aa66-d7dbb665666d))" %} 42 | -------------------------------------------------------------------------------- /collections/_posts/self-driving/2017-10-30-self-driving-history.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: History of self driving vehicles 4 | date: 2017-10-30 20:10:12 +0200 5 | categories: [self-driving, history] 6 | excerpt: "Virtualbox on macOS" 7 | tags: [self-driving, udacity, history] 8 | use_math: false 9 | toc: true 10 | # toc_label: "Unscented Kalman Filter" 11 | image: 12 | feature: /assets/posts/2017-10-30-localization/localization.png 13 | thumb: /assets/posts/2017-10-30-localization/localization.png #keep it square 200x200 px is good 14 | published: false 15 | --- 16 | 17 | - Ernst Dickmanns 18 | 19 | - Sebastian Thrun 20 | 21 | - Google 22 | 23 | - Tesla 24 | 25 | - OEM 26 | -------------------------------------------------------------------------------- /collections/_posts/self-driving/2017-12-03-pid-control.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "PID Control" 4 | date: 2017-12-03 14:24:31 +0100 5 | excerpt: "Summary of the PID controller." 6 | categories: [control, pid] 7 | excerpt: "Virtualbox on macOS" 8 | tags: [udacity, pid, control] 9 | use_math: true 10 | toc: true 11 | # toc_label: "Unscented Kalman Filter" 12 | header: 13 | teaser: https://upload.wikimedia.org/wikipedia/commons/4/43/PID_en.svg 14 | overlay_image: https://upload.wikimedia.org/wikipedia/commons/4/43/PID_en.svg #keep it square 200x200 px is good 15 | caption: "Source: [Wikimedia](https://upload.wikimedia.org/wikipedia/commons/4/43/PID_en.svg)" 16 | --- 17 | 18 | ## Introduction 19 | 20 | Summary of the PID controller invented 1922 by [Nicolas Minorsky](https://en.wikipedia.org/wiki/Nicolas_Minorsky). 21 | 22 | - P is the proportinal gain of the controller which penalizes deviations from the center lane, also known as cross track error (cte). 23 | - I is the integral gain and is used to reduce the steady offset errors. This part is used to reduce past errors caused by unmodeled disturbances. 24 | - D is the differential gain, which penalizes strong changes in the cross track error. Therefore it compensates "future" errors. 25 | 26 | 27 | 28 | 29 | ## PID tuning 30 | 31 | To tune a PID controller for steering a vehicle in the center of the lane, the parameters can be tuned manually. 32 | Starting with the P component, it should be increased until the vehicle stays in the center of the lane. 33 | Furthermore the P gain should be kept small enought to avoid instable behavior, like overshooting. 34 | Afterwards the D term can be increased slightly and should be kept low to avoid oscillating behavior of the steering. 35 | Finally the I component can be increased until the cross track error is reduced further. 36 | 37 | For fine tuning, the twiddle algorithm or stochastic gradient descent algorithm can be used. 38 | 39 | Furthermore the throttle can be controlled by another PID controller which sets the speed to a desired velocity and slows down if the cross track error gets too large. 40 | 41 | ## Additional reading 42 | 43 | - [PID Controller](https://en.wikipedia.org/wiki/PID_controller) 44 | - [Controller](https://de.wikipedia.org/wiki/Regler) 45 | - [Tuning](http://www.dee.ufrj.br/controle_automatico/artigos/ieee-edu2002.pdf) 46 | -------------------------------------------------------------------------------- /collections/_projects/2022-07-23-home-automation.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single 3 | title: "Home Automation - Raspberry Pi Setup" 4 | permalink: /projects/home-automation/ 5 | excerpt: "Home Automation based on KNX and Home Assistant." 6 | date: 2022-07-23 09:00:35 +0100 7 | categories: [home automation, raspberry pi, home assistant, knx] 8 | tags: [knx, home, home automation, home assistant, home, assistant, raspberry pi, os, raspberry, ssd, setup, argon, one, m.2, case] 9 | comments: true 10 | use_math: true 11 | toc: true 12 | classes: wide 13 | # toc_label: "Unscented Kalman Filter" 14 | header: 15 | teaser: /assets/collections/home-automation/knx-wago.jpg 16 | overlay_image: /assets/collections/home-automation/knx-wago.jpg 17 | overlay_filter: 0.5 18 | redirect_from: 19 | - /projects/home-automation/ 20 | sidebar: 21 | nav: "home-automation" 22 | --- 23 | 24 | Home Automation project based on KNX and Home Assistant. The instructions provide a guide on how to setup everything up. 25 | 26 | The features that this project includes are: 27 | 28 | - KNX Bus 29 | - Wheater station 30 | - Automatic blind control for shading 31 | - Lightning control based on [DALI](https://en.wikipedia.org/wiki/Digital_Addressable_Lighting_Interface) 32 | - Multi-room audio based on Sonos 33 | 34 | 35 | For testing purposes a Raspberry Pi 4B 8GB running Home Assistant is used. For more details see the [setup instructions](/projects/home-automation/setup) including booting from an SSD. 36 | -------------------------------------------------------------------------------- /collections/_projects/autonomous_rc_car.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Autonomous RC Car 4 | date: 2018-05-05 5 | permalink: /projects/autonomous-rc-car/ 6 | excerpt: "Autonomous RC Car equipped with a Raspberry Pi running ROS and Arduino to control its servos." 7 | header: 8 | overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 9 | overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 10 | caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 11 | show_overlay_excerpt: true 12 | sidebar: 13 | nav: "autonomous_rc_car" 14 | --- 15 | 16 | ## Introduction 17 | This project aims to build a self driving rc car equipped with a Raspberry Pi 3 B+ (use a Raspberry Pi 4 B for increased performance) running ROS and an Arduino MKR1000 to control the motor and the servo for steering. To find its way around it uses a camera. The project is split into four parts, to adress the following main components of the robot. 18 | 19 | - Arduino MKR1000 responsible for the low level control. 20 | - [Raspberry Pi 3 B+](https://de.aliexpress.com/item/32858825148.html?spm=a2g0o.productlist.0.0.5d232e8bvlKM7l&algo_pvid=2c45d347-5783-49a6-a0a8-f104d0b78232&algo_expid=2c45d347-5783-49a6-a0a8-f104d0b78232-0&btsid=0100feb4-37d7-453a-8ff8-47a0e2fbdef7&ws_ab_test=searchweb0_0,searchweb201602_9,searchweb201603_52) or even better a [Rapberry 4 B](https://de.aliexpress.com/item/4000054868537.html?spm=a2g0o.productlist.0.0.2ade7babA4VMjD&algo_pvid=883b9cf1-2bc7-49e3-8407-e71950629c5e&algo_expid=883b9cf1-2bc7-49e3-8407-e71950629c5e-0&btsid=af279edc-561a-4435-a3de-704beddbdadf&ws_ab_test=searchweb0_0,searchweb201602_9,searchweb201603_52) running ROS to perceive the environment and act accordingly. 21 | - The rc vehicle and its parts 22 | - System integration: combining the components. 23 | 24 | 25 | In this part I will explore the MKR1000 and its capabilities using the Serial connection and a library called [rosserial](http://wiki.ros.org/rosserial). This library provides a client library called rosserial_arduino. It allows users to get ros nodes up and running easily. 26 | 27 | ## Prerequisites 28 | 29 | If you followed the previous tutorial to setup a ubuntu 16.04 guest virtual machine on virtualbox running on macOS, you are ready to follow this tutorial. However, it’s not required to have ubuntu running on a virtualbox. Feel free to install ubuntu 16.04 directly on your machine to get the best experience regarding performance. 30 | 31 | The reason we use ubuntu 16.04 is that it is an LTS version and recommended by the [ROS Kinetic](http://wiki.ros.org/ROS/Installation) distribution which is itself has LTS, supported until April, 2021. 32 | -------------------------------------------------------------------------------- /collections/_projects/fpv_race_quad.md: -------------------------------------------------------------------------------- 1 | --- 2 | layout: single #collection 3 | title: Introduction to FPV 4 | permalink: /projects/fpv/ 5 | excerpt: "Build instructions for an FPV race quad." 6 | categories: [fpv, rc, quad] 7 | tags: [fpv, rc, quad, getfpv, motors, brushless, esc, props, flightcontroller, antennas, camera, goggles, frsky, fatshark] 8 | comments: true 9 | header: 10 | # overlay_image: /assets/projects/autonomous-rc-car/hpi-racing-bmw-m3.png 11 | # overlay_filter: 0.5 # same as adding an opacity of 0.5 to a black background 12 | # caption: "Source: [**hpiracing**](http://www.hpiracing.com/de/kit/114343)" 13 | # show_overlay_excerpt: true 14 | sidebar: 15 | nav: "fpv" 16 | --- 17 | 18 | Flying [FPV](/projects/fpv/glossar/#fpv) drones is the new trend with racing events and it makes scenic shots possible that haven't been seen before. Controlling a FPV drone remotely and seeing the live image through your [fpv-goggles](/projects/fpv/glossar/#goggle), literally sitting in an [(unpiloted) aerial vehicle](https://en.wikipedia.org/wiki/Unmanned_aerial_vehicle), is amazing and made possible through latest technology, which makes this sport so fascinating. You feel free as a bird as you fly with high speed over scenic mountain views or through woods 19 | where you feel the thrill and try not to crash your drone into the next tree. Even if it happens, remember: Forget it, fix it, fly it! The build and repair is exciting too. The hardware and software technology that makes it possible to fly a drone interests me the most and this is why I started this project of documenting my knowledge in this field. I hope you find this content useful to get as excited as I am and build your own race quad. 20 | 21 | 22 | ## FPV Race Quad Build 23 | 24 | In this project we will [build](/projects/fpv/assembly) a race quad. For the parts that will be used to build this quad check out the [part list](/projects/fpv/components). 25 | 26 | If you are new to this hobby follow this project. You find the index on the left. All the required theory will be outlined first, followed by [build instructions](/projects/fpv/assembly). 27 | Common terms are explained in the [glossar](/projects/fpv/glossar) and linked throuhout the single pages. 28 | --------------------------------------------------------------------------------