BabyDiffDrive

A Differential Drive Controller with PID tunings, all written in MicroPython

Motor Info:

• Uses two pins: normal and interrupt, normal start, then interrupt is in the middle, use the interrupt pin to figure out clockwise or ccw movement (0/1)
• Uses a PWM signal (max: 65536 - 1) to drive the speed of the motor down on the two encoder pins

Hardware Used:

• ESP32-Wroom-Dev Microcontroller Board
• LN298 Motor Driver
• Two JGA25 Motors

Resources Used:

• Curio Res
• CMU Kinematics Diff Drive
• Brett Blog Awesome