MatrixR4-Arduino-Library

A competition-oriented library collection for Matrix R4 development, providing motion control, I/O control, and reusable control algorithms.

Overview

This repository provides a set of libraries developed for Matrix R4-based projects. It is intended to serve as a foundation library for competition robots and embedded control applications.

The project contains two types of modules:

• Matrix R4 specific modules These modules depend on Matrix R4 hardware and are designed for motor control and I/O port control.

• Generic control algorithm modules These modules implement reusable control algorithms and can be used on other boards or platforms.

Module Support

Matrix R4 Specific

The following modules are intended for Matrix R4 only:

• AXISController Motion / axis control functions for Matrix R4.

• UIController I/O-related control functions for Matrix R4 peripherals and ports.

Generic Modules

The following modules are designed as general-purpose control algorithms:

• ACCController Generic acceleration or motion-profile-related control logic.

• PIDController Generic PID control algorithm for reusable closed-loop control applications.

Purpose

This library is mainly built for:

• competition robot development
• Matrix R4-based control projects
• reusable embedded control functions
• faster development of motion and I/O control applications

Repository Structure

ACCController/
AXISController/
PIDController/
UIController/

Each module currently exists as an independent library component.

Platform Support

Module	Support
AXISController	Matrix R4 only
UIController	Matrix R4 only
ACCController	Generic / reusable
PIDController	Generic / reusable

Installation

Currently, this repository is provided as a source collection of libraries.

Manual Installation

1. Download or clone this repository.
2. Copy the target library folder into your Arduino libraries directory.
3. Restart Arduino IDE.
4. Include the required header files in your project.

Status

This project is currently in an early development stage.

Initial version includes the basic module structure for:

• acceleration-related control
• PID control
• axis control
• I/O control

Notes

• Some modules are hardware-dependent and only work on Matrix R4.
• Generic algorithm modules may be reused on other boards.
• API design, examples, and documentation are still being refined.

Roadmap

Planned improvements may include:

• clearer API design
• usage examples
• better module integration
• expanded documentation
• additional competition-oriented control utilities

License

License not specified yet.