IC382_Controller

It is a humane version for IC382 Rescue Robot student.

What's inside?

• Basic robot movement

1. int calculate_MOTOR_PWM(unsigned char percentage); => Robot PWM Calculation
2. void robot_forward(int speed); => Robot Control -> Forward
3. void robot_stop(void); => Robot Control -> Stop
4. void robot_adjust(int motor1_speed, int motor2_speed); => Robot Control -> Adjustable

• MPU6050 with FLC and Kalman Filter

1. float trimf(float measurement, float start, float peak, float end); => Fuzzy Logic: triangular membership function
2. float Rmf(float measurement, float top, float bottom); => Fuzzy Logic: R membership function
3. float Lmf(float measurement, float bottom, float top); => Fuzzy Logic: L membership function
4. float trapmf(float measurement, float start,float top_1,float top_2,float end); => Fuzzy Logic: trapezodial membership function
5. int raw_FLC(double error); => Raw fuzzy logic controller
6. int pitch_FLC(double error); => Pitch fuzzy logic controller

• DMA Receiving and Analyzing GPU Message from NVIDIA Jetson Nano

1. void gpu_msg_analyzer(void); => Analyzing GPU message