This repository contains firmware, simulations and design files for a 3DOF tail. The firmware powers an F103 chip in a Blackpill ST-Mini board and an STM32G431 in a G431B-ESC dev board by ST. The firmware in stm/ also includes projects on F303 and F072 chips used during testing.

Control, build and electrical details for this prototype are described and updated in a series of posts on lam.io.

Several simulations in Python and C are included as part of process tracking, including:

• Inverse kinematics tests in ctrl/
• A visual browser-based kinematic simulator in JS under kin-sim/
• A Newton's method solver for path timing in mech/newton.py
• Motor selection among Quicrun 3650 models in quicrun_ops.py
• Interpolation spline design in spline_stable.py

The tail is controlled by a 3-axis handheld input, which is converted to joint angles through an exact lookup table generated by OpenRAVE's IKFast.

(2020-07-11) At the moment. the code is mostly for looking at — it is extremely specific to my own build. In the coming weeks expect the code to be generalized and a workflow presented to be at least grabbable in chunks.