├── .gitignore ├── .gitmodules ├── 1_MotorControl ├── CMakeLists.txt ├── pico_sdk_import.cmake └── src │ ├── CMakeLists.txt │ ├── GPIOInputMgr.cpp │ ├── GPIOInputMgr.h │ ├── GPIOObserver.cpp │ ├── GPIOObserver.h │ ├── MotorMgr.cpp │ ├── MotorMgr.h │ └── main.cpp ├── 2_SpeedMeter ├── CMakeLists.txt ├── pico_sdk_import.cmake └── src │ ├── CMakeLists.txt │ ├── GPIOInputMgr.cpp │ ├── GPIOInputMgr.h │ ├── GPIOObserver.cpp │ ├── GPIOObserver.h │ ├── MotorMgr.cpp │ ├── MotorMgr.h │ └── main.cpp ├── 3_PID ├── CMakeLists.txt ├── data │ ├── Test1.4Rad Per Sec.csv │ ├── Test3.8Rad Per Sec.csv │ └── Test3.8Rad Per Sec.xlsm ├── pico_sdk_import.cmake └── src │ ├── CMakeLists.txt │ ├── GPIOInputMgr.cpp │ ├── GPIOInputMgr.h │ ├── GPIOObserver.cpp │ ├── GPIOObserver.h │ ├── MotorMgr.cpp │ ├── MotorMgr.h │ ├── MotorPID.cpp │ ├── MotorPID.h │ └── main.cpp ├── 4_ROS2 └── firmware │ ├── CMakeLists.txt │ ├── FreeRTOS_Kernel_import.cmake │ ├── micro_ros.cmake │ ├── pico_sdk_import.cmake │ ├── port │ └── FreeRTOS-Kernel │ │ ├── FreeRTOSConfig.h │ │ ├── IdleMemory.c │ │ ├── cppMemory.cpp │ │ ├── freertos_config.cmake │ │ ├── logging_levels.h │ │ └── logging_stack.h │ └── src │ ├── Agent.cpp │ ├── Agent.h │ ├── BlinkAgent.cpp │ ├── BlinkAgent.h │ ├── CMakeLists.txt │ ├── GPIOInputMgr.cpp │ ├── GPIOInputMgr.h │ ├── GPIOObserver.cpp │ ├── GPIOObserver.h │ ├── MotorMgr.cpp │ ├── MotorMgr.h │ ├── MotorPID.cpp │ ├── MotorPID.h │ ├── MotorsAgent.cpp │ ├── MotorsAgent.h │ ├── freertos_allocators.c │ ├── freertos_allocators.h │ ├── main.cpp │ ├── pico_usb_transport.c │ ├── pico_usb_transports.h │ ├── uRosBridge.cpp │ ├── uRosBridge.h │ ├── uRosEntities.cpp │ └── uRosEntities.h ├── 5_TWIST └── firmware │ ├── CMakeLists.txt │ ├── FreeRTOS_Kernel_import.cmake │ ├── eigen_import.cmake │ ├── micro_ros.cmake │ ├── pico_sdk_import.cmake │ ├── port │ └── FreeRTOS-Kernel │ │ ├── FreeRTOSConfig.h │ │ ├── IdleMemory.c │ │ ├── cppMemory.cpp │ │ ├── freertos_config.cmake │ │ ├── logging_levels.h │ │ └── logging_stack.h │ └── src │ ├── Agent.cpp │ ├── Agent.h │ ├── BlinkAgent.cpp │ ├── BlinkAgent.h │ ├── CMakeLists.txt │ ├── DDD.cpp │ ├── DDD.h │ ├── GPIOInputMgr.cpp │ ├── GPIOInputMgr.h │ ├── GPIOObserver.cpp │ ├── GPIOObserver.h │ ├── MotorMgr.cpp │ ├── MotorMgr.h │ ├── MotorPID.cpp │ ├── MotorPID.h │ ├── MotorsAgent.cpp │ ├── MotorsAgent.h │ ├── freertos_allocators.c │ ├── freertos_allocators.h │ ├── main.cpp │ ├── pico_usb_transport.c │ ├── pico_usb_transports.h │ ├── uRosBridge.cpp │ ├── uRosBridge.h │ ├── uRosEntities.cpp │ └── uRosEntities.h ├── 6_HCSR04 ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOS_Kernel_import.cmake │ ├── distance_sensor.cmake │ ├── eigen_import.cmake │ ├── micro_ros.cmake │ ├── pico_sdk_import.cmake │ ├── port │ │ └── FreeRTOS-Kernel │ │ │ ├── FreeRTOSConfig.h │ │ │ ├── IdleMemory.c │ │ │ ├── cppMemory.cpp │ │ │ ├── freertos_config.cmake │ │ │ ├── logging_levels.h │ │ │ └── logging_stack.h │ └── src │ │ ├── Agent.cpp │ │ ├── Agent.h │ │ ├── BlinkAgent.cpp │ │ ├── BlinkAgent.h │ │ ├── CMakeLists.txt │ │ ├── DDD.cpp │ │ ├── DDD.h │ │ ├── GPIOInputMgr.cpp │ │ ├── GPIOInputMgr.h │ │ ├── GPIOObserver.cpp │ │ ├── GPIOObserver.h │ │ ├── HCSR04Agent.cpp │ │ ├── HCSR04Agent.h │ │ ├── MotorMgr.cpp │ │ ├── MotorMgr.h │ │ ├── MotorPID.cpp │ │ ├── MotorPID.h │ │ ├── MotorsAgent.cpp │ │ ├── MotorsAgent.h │ │ ├── PWMManager.cpp │ │ ├── PWMManager.h │ │ ├── PubEntities.cpp │ │ ├── PubEntities.h │ │ ├── freertos_allocators.c │ │ ├── freertos_allocators.h │ │ ├── main.cpp │ │ ├── pico_usb_transport.c │ │ ├── pico_usb_transports.h │ │ ├── uRosBridge.cpp │ │ ├── uRosBridge.h │ │ ├── uRosEntities.cpp │ │ └── uRosEntities.h └── ros2_ws │ └── src │ └── droid1 │ ├── CMakeLists.txt │ ├── launch │ ├── dispOnly.launch.py │ └── display.launch.py │ ├── package.xml │ ├── rviz │ └── urdf.rviz │ └── urdf │ └── ddd.urdf ├── LICENSE └── README.md /.gitignore: -------------------------------------------------------------------------------- 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