4-Omniwheels Base

Table of Contents

• Table of Contents
• 🙏 Credits
• 📖 About
• 📦 Structure
• 🔧 Build
• 📜 License

🙏 Credits

• Thanks to dragonfuneste for his contribution, naming
  • Helped me with the code
  • Provided examples and inspiration with his own project
  • Tought me many things on robotics

📖 About

This projects was the code of our wheeled base during the French Cup of Robotics in 2025.

Note

This project was setup with STM32CubeIDE with the STM32F411CEU6 as the specified target MCU

📦 Structure

Directories

• Src - Source files (.c)
• Inc - Headers (.h)

Files

• pid.c – Implements a robust numerical PID controller.
• encoders.c – Interfaces with rotary incremental encoders.
• moteurs.c – Provides a basic motor control interface.
• log.c – Custom logging module for tracking system activity.
• imu.c – Driver for the MPU-9250 IMU.
• uart.c – UART communication module for logging and control.
• altimu.c – Interface for the AltIMU-v4 sensor.
• fusion.c – Handles 9-DoF sensor fusion.
• odometrie.c – Implements odometry for a 4-omniwheel robot.
• asserv.c – Feedback control for motors and robot movement.

🔧 Build

Warning

STM32CubeIDE builds the project only for the specified target (MCU)

To build this project, first install the STM32CubeIDE on your system.

Then, you can clone this repo

git clone https://github.com/leoraclet/wheeled-base

And open / import the project into STM32CubeIDE

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If you want to build for another target, then create a new project for the wanted target and just copy the source files of this project, with the corresponding headers, into your project.

📜 License

This project is licensed under the MIT License - see the LICENSE file for details.