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runeharlyk / SpotMicroESP32-Leika

My take on the quadruped Spot Micro robot. Its built around an ESP32 cam microcontroller and utilizes a svelte app to control it
MIT License
27 stars 2 forks source link

Split robot firmware #34

Open runeharlyk opened 8 months ago

runeharlyk commented 8 months ago

It could be beneficial to split the robot firmware into an interface/planner and a controller. This would give the user a choice for selecting hardware for budgeting etc.

The interface controller could be an esp32(cam), raspberry pi or jetson nano. It purpose would be taking input and planning trajectories.

The controller could be an esp32, teensy 4.0, stm32 or other. The main purpose would be collection sensor data (uss, button, imu, adc etc), calculate inverse kinematics and updating hardware (servos, led, oled)

Ian-cmd-ops commented 5 months ago

Interesting to see which way you go.