Ze-robot V0.2 -

Here is the structured, solid content for , positioned as a lightweight, modular, and extensible robotics control framework or firmware (depending on your target use — I’ve kept it hardware-agnostic but engineering-focused). ZE-ROBOT v0.2 Release codename: “Stable Core” 1. Overview ZE-ROBOT v0.2 is a maintenance and stability-focused update over v0.1. It introduces real-time sensor fusion, improved motor control PID tuning, and a modular driver layer for interchangeable hardware components.

// PID gains (tuned for 3kg differential drive) #define PID_KP 2.5f #define PID_KI 0.8f #define PID_KD 0.05f ze-robot v0.2

Image
 
 
 
 
 
 
 
 
 
 
 
 
N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198 X+43.988 Y-9.751 DR-
N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198 X+43.988 Y-9.751 DR-

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-

N167 X+85.56 Y-3.324

N178 X+75.457 Y+4.324 DR-

N189 X+55.34 Y+15.455

N189 X+55.34 Y+15.455

N189 X+55.34 Y+15.455

Image
 
 
 
 
 
 
 
 
 
 
 
 
N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198 X+43.988 Y-9.751 DR-
N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198 X+43.988 Y-9.751 DR-

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455, N198

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-, N189 X+55.34 Y+15.455

N167 X+85.56 Y-3.324, N178 X+75.457 Y+4.324 DR-

N167 X+85.56 Y-3.324

N178 X+75.457 Y+4.324 DR-

N189 X+55.34 Y+15.455

N189 X+55.34 Y+15.455

N189 X+55.34 Y+15.455