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README.md

📚 RobotLib Examples

Comprehensive, working examples demonstrating RobotLib in real-world robotics applications.

🗂️ Organization

Examples are organized by complexity and feedback requirements:

📁 01_basics/ - Simple Control (No Feedback)

Perfect for beginners - Direct motor/servo control without sensors

  • simple_motor.cpp - Basic motor control (open-loop)
  • simple_servo.cpp - Hobby servo control (gripper, pan/tilt, arms)
  • simple_differential_drive.cpp - Basic robot driving (no odometry)

Use when: Testing hardware, simple timed movements, no encoders available

Compile: g++ -std=c++11 -I.. 01_basics/simple_motor.cpp -o simple_motor

📁 02_with_feedback/ - Control with Sensors

Intermediate - Closed-loop control using sensor feedback

  • servo_with_position_feedback.cpp - Servo with PID and position sensing
  • drive_with_odometry.cpp - Robot navigation with wheel encoders

Use when: You have encoders, need accurate positioning, autonomous navigation

Compile: g++ -std=c++11 -I.. 02_with_feedback/servo_with_position_feedback.cpp -o servo_feedback

📁 03_full_systems/ - Complete Robot Systems

Intermediate - Real robot implementations

  • 01_differential_drive_robot.cpp - Complete tank-style robot
  • 03_line_following_robot.cpp - Line-following with sensor array
  • 06_omnidirectional_robot.cpp - Mecanum wheel robot
  • 10_swerve_drive.cpp - Advanced swerve drive system

Use when: Building a complete robot, need full system integration

Compile: g++ -std=c++11 -I.. 03_full_systems/01_differential_drive_robot.cpp -o diff_drive

📁 04_algorithms/ - Control Algorithms

Intermediate to Advanced - Specific control algorithms

  • 02_pid_tuning_guide.cpp - PID controller tuning
  • 05_sensor_fusion_imu.cpp - IMU sensor fusion (Kalman, complementary)
  • 07_motor_control_encoders.cpp - Feedforward + feedback motor control
  • 12_mpc_trajectory_tracking.cpp - Model predictive control

Use when: Learning control theory, optimizing performance

Compile: g++ -std=c++11 -I.. 04_algorithms/02_pid_tuning_guide.cpp -o pid_tune

📁 05_advanced/ - Advanced Topics

Advanced - Complex robotics concepts

  • 04_robot_arm_kinematics.cpp - Forward/inverse kinematics, Jacobian
  • 11_3d_quadcopter_navigation.cpp - 3D navigation, quaternions, EKF, pathfinding

Use when: Building manipulators, drones, complex systems

Compile: g++ -std=c++11 -I.. 05_advanced/04_robot_arm_kinematics.cpp -o arm_kin

📁 06_fluent_api/ - Fluent API Demos

Beginner to Intermediate - Beautiful chainable API

  • 08_hello_units.cpp - Gentle introduction to type-safe units
  • 09_battery_management.cpp - Battery monitoring and power management
  • 13_fluent_api_demo.cpp - Complete fluent API demonstration

Use when: Want easy-to-read code, teaching, rapid prototyping

Compile: g++ -std=c++11 -I.. 06_fluent_api/08_hello_units.cpp -o hello

🎯 Quick Start Paths

Path 1: Complete Beginner

  1. Start with 06_fluent_api/08_hello_units.cpp - Learn the basics
  2. Try 01_basics/simple_servo.cpp - Control a servo
  3. Move to 01_basics/simple_differential_drive.cpp - Drive a robot

Path 2: I Have Encoders

  1. 02_with_feedback/servo_with_position_feedback.cpp - Closed-loop control
  2. 02_with_feedback/drive_with_odometry.cpp - Track position
  3. 03_full_systems/01_differential_drive_robot.cpp - Complete robot

Path 3: Learning Control Theory

  1. 04_algorithms/02_pid_tuning_guide.cpp - Master PID
  2. 04_algorithms/07_motor_control_encoders.cpp - Feedforward control
  3. 04_algorithms/05_sensor_fusion_imu.cpp - Sensor fusion
  4. 04_algorithms/12_mpc_trajectory_tracking.cpp - Optimal control

Path 4: Building an Arm

  1. 01_basics/simple_servo.cpp - Basic servo control
  2. 02_with_feedback/servo_with_position_feedback.cpp - Add feedback
  3. 05_advanced/04_robot_arm_kinematics.cpp - Full kinematics

💡 Choosing the Right Example

"I just want to make a motor spin"

→ 01_basics/simple_motor.cpp

"I have a servo-based gripper or arm"

→ 01_basics/simple_servo.cpp

"I want to drive a robot around (no sensors)"

→ 01_basics/simple_differential_drive.cpp

"I have wheel encoders and want accurate positioning"

→ 02_with_feedback/drive_with_odometry.cpp

"I'm building a competition robot"

→ Start with 03_full_systems/01_differential_drive_robot.cpp

"My control is wobbly, need to tune PID"

→ 04_algorithms/02_pid_tuning_guide.cpp

"Building a robot arm with inverse kinematics"

→ 05_advanced/04_robot_arm_kinematics.cpp

"I want the easiest, most readable API"

→ 06_fluent_api/13_fluent_api_demo.cpp

📊 Comparison: Basic vs Feedback

Feature Basic With Feedback
Encoders needed ❌ No ✅ Yes
Position accuracy ⚠️ Low ✅ High
Code complexity ✅ Simple ⚠️ Moderate
Cost ✅ Lower 💰 Higher
Use case Testing, simple robots Precision, autonomous
Control loop Open-loop Closed-loop

Happy Robot Building! 🤖