Wheeled-Legged-Robot

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Wheeled-Legged-Robot

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# Wheeled Legged Robot
A low cost wheeled legged robot driven by BLDC motor and Feetech serial servos.
## Project Introduction
There are two branches in this project--_Main_ and _MotorDriver_

- Branch [Main](https://github.com/YueWang996/Wheeled-Legged-Robot/tree/main) contains code for the main control unit. It contains an ESP32 board and an MPU6050 6-DOF IMU. 
- Brance [MotorDriver](https://github.com/YueWang996/Wheeled-Legged-Robot/tree/MotorDriver) contains code based on SimpleFOC for the motor control board. It is a dual-channel BLDC motor controller which can control two BLDC motors at the same time. The onboard CAN transceiver receives instructions from the main control unit so that the two motors can move as desired.

## Environment
- ESP-IDF 4.2
- CLion 2021.2.3
- Python 3.9

Maybe you can refer to [this link (Chinese version)](https://www.bilibili.com/read/cv15226500) to get more information about how to configure and use ESP-IDF toolchain in Clion.

## Major Hardwares
- ESP32-WROOM-32D
- Feetech ST3215 serial servo * 4
- Feetech servo control board
- GY-521 (MPU6050)

## Project Structure
All source code is placed in the [src](https://github.com/YueWang996/Wheeled-Legged-Robot/tree/main/src).
 * [src](./src)
   * [CAN](./src/CAN) - CAN bus initialisation;
   * [MPU6050](./src/MPU6050) - MPU6050 drivers;
   * [ServoSDK](./src/ServoSDK) - Feetech servo driver modified for ESP32;
   * [imu.h/.cpp](./src) - IMU data acquire;
   * [Kalman.h/.cpp](./src) - A Kalman filter for data fusion of accelerometer and gyroscope readings from MPU6050, from TKJ Electronics;
   * [LowPass.h](./src) - A lowpass filter library from [here](https://github.com/curiores/ArduinoTutorials/blob/main/LowPass2.0/LowPass2.0.ino);
   * [MotorControl.h/.cpp](./src) - Controlling two BLDC motors and 4 servos to the desired position via CAN bus and serial port. Inverse kinematics is used to calculate servo positions;
   * [WebPage.h](./src) - HTML code for web interface rendering;
   * [Config.h](./src) - Some predefined static variables and data types;
   * [main.cpp](./src) - Main entrance of the program. COntaining the LQR controller.

All model files are stored in the directory [Models](https://github.com/YueWang996/Wheeled-Legged-Robot/tree/main/Models). They are already verified by 3D printing.

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