A GitHub repository for the Bicycle Lab's Steer-by-Wire bicycle.

Building on Georgios Dialynas' work:

• Original repository: gdialynas/Steer-by-wire-bicycle.
• Paper: Dialynas, Georgios & Schwab, Arend & Happee, Riender. (2018). Design and implementation of a steer-by-wire bicycle.

bluetooth_teensy/ - A Teensy 4.1 together with an HC-05 Bluetooth module is used as a Bluetooth interface to Simulink. This folder hosts the code for the Teensy. Written in C++ using PlatformIO.

docs/ - Hosts the documentation for the bicycle, hardware and software.

inventory/ - Hosts the inventory of the spare parts for the hardware.

libsurvive-udp/ - Hosts the files to enable HTC Vive Tracker communication through UDP.

neokey/ - A NeoKey Trinkey is used to control the trial's start and end. Code for the NeoKey is hosted here. Written in CircuitPython.

simulink/ - Hosts the MATLAB scripts and Simulink model for the MPC controller.

teensy/ - Contains the Teensy code that acts as the brain of the bicycle. Written in C++ using PlatformIO.

unity/SbW-game/ - Contains the visualisation of the reference line that needs to be tracked. Developed in Unity.

unity/SbW-game-built/ - Contains the binaries built from unity/SbW-game/. Built for Windows 64-bit.

• $\theta$ is the handlebar angle
• $\delta$ is the fork angle
• $e$ is the angular error
• $T_h$ is the human torque
• $T_g$ is the ground reaction torque
• $y$ is the lateral position of the rear wheel
• $\psi$ is the yaw angle
• $\varphi$ is the roll angle