I’ve done a lot of work for this project with UMN Robotics, including ROS autonomy stack setup, writing sensor nodes, and firm RT system control code.
See the ROS code here and STM32 code here.
“Puma” DC motor speed controller
A 200W DC H-bridge motor controller. Uses an ATTiny as the main controller.
See the AVR code here and EAGLE schematics and layout here.
Tower crane control systems research
I’m currently working on my undergrad thesis about passivity-based control of a tower crane.
At the moment I’m working on simulating the system and the controller math.