Unicycle-hero.gitlab Jun 2026

: You can clone the repository to your local machine using the command:

Implementations for popular boards (STM32‑HAL, ESP‑IDF) reside in hal/drivers/ . unicycle-hero.gitlab

Overall worst‑case execution time (WCET) = , well within the 5 ms deadline. The system employs stack overflow checks and a hardware watchdog that resets the board if the control task fails to execute for > 10 ms. : You can clone the repository to your

| Layer | Language | Key Libraries | |-------|----------|----------------| | HAL / RTOS | C++ (C for ISR) | STM32Cube HAL, FreeRTOS | | Sensor Fusion & Control | C++ | Eigen, TinyEKF | | ROS‑2 Bridge | Python (rclpy) | rclpy , diagnostic_updater | | High‑Level Behaviors | Python | nav2 , tf2 , OpenCV (optional) | | Build System | CMake + colcon | ament_cmake | | Layer | Language | Key Libraries |

If you paste the relevant code or key files here, I can review them directly.