ESP32 Robotics Control Platform
IMU sensing, Bluetooth input, H-bridge PWM, encoder feedback, servo actuation and self-balancing PID control.
View public repository ↗01 / Problems this addresses
When the code works
in isolation.
Embedded behavior becomes difficult to review when state transitions, interrupt timing, communications and hardware assumptions live in different places.
Typical starting points
Unclear operating states, intermittent interfaces, control-loop changes that need hardware evidence, or a prototype that cannot be reproduced consistently.
Firmware architecture
- State machines, timers and interrupt structure
- Interface definitions for sensors, actuators and communications
- PWM, ADC, encoder and control-loop integration
- Fault handling and explicit safe behavior
02 / Technical capabilities
Make the control path
reviewable.
Implementation follows the system boundary: what the MCU owns, what the hardware guarantees and which behavior must be measured at the bench.
03 / Engagement workflow
From interface
to evidence.
01Define the boundary
Clarify hardware, timing and command ownership.
02Inspect the codebase
Trace states, interfaces and build assumptions.
03Reproduce behavior
Use controlled inputs and observable outputs.
04Implement and test
Change the smallest useful part, then measure it.
05Document the handoff
Leave interfaces, tests and next steps clear.
04 / Representative evidence
Public work with
hardware behind it.
TI C2000 Actuator Controller
F28069M command handling, state control, ePWM output, setpoint validation, timeout and fault-latched behavior.
View public repository ↗TI Piccolo PMSM dynamometer
Dual-motor control, QEP feedback, SCI-to-CAN migration, real-time testing and validation evidence.
View public repository ↗These are public technical projects, not presented as completed client contracts.
05 / Deliverables
Leave a clearer
next state.
- Firmware architecture and interface notes
- Prototype code or targeted implementation changes
- State and fault-handling documentation
- Integration and test procedures
Scope follows the hardware.
Deliverables depend on the project stage, available access and the evidence needed for the next decision.
Start a technical discussion
Bring the
hard part.
Describe the project, its current stage, the technical problem and what evidence already exists. Secure file exchange can follow the initial discussion.
Start a technical discussion →Or write directly: [email protected]