Mechatronic-Control-Firmware ⚙️

📌 Overview

Low-latency C++ firmware developed for an Arduino/ESP32-based service robot. This repository manages real-time actuator control, sensor data fusion, and robust serial communication with a high-level Python controller.

🚀 Key Features

• Deterministic Control Loop: Implemented a non-blocking millis() based architecture to ensure consistent 20Hz execution.
• Custom Serial Protocol: Uses a 3-byte packet system (Header-Command-Footer) with error-checking to prevent malformed data execution.
• PID Synchronization: Optimized motor PWM signals for fluid limb movement and precise base locomotion.

🛠️ Tech Stack

• Language: C++ (Arduino Framework)
• Hardware: ATmega2560 / ESP32
• Peripherals: L298N H-Bridge, SG90 Servos, UART Communication