The primary purpose of this repository is to provide a set of core reusable low level features that enable Cartesian Robot (PPP) functionality. This implementation can be tailored to specific robotic applications that have a Cartesian Robot based movement.
The set of features include:
- State machine management
- Low level communication
- Independent simultaneous motor control
- Real-time trajectory generation
- Trajectory message handling
- Routine execution handling
Further improvements:
- Error handling
- Extending set of trajectory profiles
- Extending the motor type compatibility
- Closed-loop motor control
Hardware:
- Raspberry Pico (ARM Cortex M0 dual-core microcontroller)
- Custom board for interfacing the peripherals
- Stepper motor