The control loop is implemented as a with a static priority (highest). The task sequence:
: Once you're on the repository's page, you can navigate through the files and directories to view the content. unicycle-hero.gitlab
If the repository is private, you'll need to have appropriate access credentials: The control loop is implemented as a with
+--------------------------------------------------------+ | High‑Level Layer | | - Behavior Planner (Python) | | - ROS‑2 Nodes (nav2, tf2, diagnostics) | +--------------------------------------------------------+ | Middleware & Communication | | - ROS‑2 DDS (Fast‑RTPS) | | - ZeroMQ bridge (for non‑ROS hosts) | +--------------------------------------------------------+ | Real‑Time Control Layer (C++) | | - HAL (Hardware Abstraction Layer) | | * Motor driver (PWM, BLDC) | | * IMU (I²C/SPI) | | * Encoder (Quadrature) | | - Sensor Fusion (Extended Kalman Filter) | | - Balancing Controller (LQR + Non‑linear PD) | | - Safety Supervisor (watchdog, fault detection) | +--------------------------------------------------------+ | Embedded Platform (RTOS) | | - FreeRTOS / ChibiOS (deterministic scheduler) | | - CPU: STM32F7 / ESP32 (≥ 200 MHz) | +--------------------------------------------------------+ keep these pro-tips in mind:
If you’re looking to break records on the GitLab version, keep these pro-tips in mind: