Tuna Gül

Robotics / Probot Studio

probot-sdk Live

A header-only C++ control stack for ESP32 robots: PID, LQR, Kalman filtering, odometry and a command scheduler.

Role
Author (stable branch)
Period
2025–2026
Team
Probot Studio
Stack
C++17 · ESP32 · FreeRTOS

A simulated differential-drive robot starts about 0.6 m off a curved reference path and converges onto it under RAMSETE path following, with robot footprints along its trail; an inset card shows the wheel velocity step response with feedforward alone settling low and PID plus feedforward reaching the setpoint.

What I did

I implemented a header-only C++ control stack for ESP32 robots: PID and feedforward, LQR, a Kalman filter, mecanum odometry, RAMSETE path following and a WPILib-style command scheduler. It brings FRC-style control (WPILib-style commands, LQR, RAMSETE) to a small ESP32 board.

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FTC Zağanos #25577 Won

FIRST Tech Challenge team. FTC Türkiye Champions, the Control Award, and the Reach Award at the FIRST Championship in Houston.

Probot Blocks
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Probot Blocks Live

Block coding that turns into C++ for our ESP32 library or into FTC Java.

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