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  1. STM32-HAL-Dynamixel-AX12A-Driver STM32-HAL-Dynamixel-AX12A-Driver Public

    Robust STM32 HAL driver for Dynamixel AX-12A smart servos (Protocol 1.0) implementing a custom half-duplex UART interface with buffer management and direction control.

    C 3

  2. Oreintation_ICM20948 Oreintation_ICM20948 Public

    Implemented an adaptive orientation estimation system using ESP32 and a 9-DoF IMU. Integrated Complementary Filter with real-time gyro bias compensation (FusionBiasUpdate). The system maintained s…

    C 4

  3. Position_Tracking Position_Tracking Public

    Developed a relative positioning system using an ESP32 and 9-DoF IMU (ICM-20948). Implemented accelerometer calibration, Complementary Filter with RLS for low-drift orientation, and ZUPT for precis…

    C 4

  4. Buck_Converter Buck_Converter Public

    A 24V-to-12V (3A) Mixed-Signal Buck Converter. Features TL494 analog PWM, STM32 digital monitoring, and TLP250H isolated high-side gate drive.