C++ practice in Robotics

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• Battery Guard

  Practice defining a battery threshold and an explicit stopped-command exception.

  foundations. Free room.

• Heading Normalizer

  Convert a multi-turn heading measurement into a single-turn angle.

  foundations. Free room.

• Robot Identity Card

  Represent one robot and format a readable identity string.

  classes. Free room.

• Wheel Speed Decoder

  Convert encoder counts sampled over a fixed interval into wheel speed.

  foundations. Free room.

• Line Position Estimate

  Estimate a line position from a row of weighted sensor readings.

  line-following. Account access required.

• Odometry Step

  Update an ideal differential-drive pose using one Euler step.

  kinematics. Account access required.

• PID Output Step

  Combine P, I and D terms and limit a modeled actuator command.

  control. Account access required.

• Sensor Fusion Average

  Reject distant outliers around a median and average the retained readings.

  sensors. Account access required.

• A* Heuristic

  Calculate an octile lower bound for an eight-connected grid.

  planning. Account access required.

• Forward Kinematics Solver

  Compute the endpoint of a planar chain from link lengths and joint angles.

  kinematics. Account access required.

• Occupancy Grid Index

  Convert a world coordinate to a bounded square-grid index.

  mapping. Account access required.

• Pure Pursuit Steering

  Compute a bicycle steering angle toward a point in the robot frame.

  navigation. Account access required.

• 2D Frame Transform

  Rotate and translate a point between two planar frames.

  kinematics. Account access required.

• 1D Kalman Filter

  Maintain a scalar estimate and its uncertainty across measurements.

  sensors. Account access required.

• Stateful PID Controller

  Store controller history, bound its integral and reset it explicitly.

  control. Account access required.

• Wavefront Potential Field

  Propagate shortest four-connected distances from a free goal cell.

  planning. Account access required.

• Autonomous Docking Finale

  Assemble a static-grid docking simulation from a route planner, pursuit geometry and persistent PID control.

  planning, control, kinematics, navigation. Account access required.

• Grid Ray Cast

  Enumerate a one-cell-wide Bresenham raster line.

  mapping. Account access required.

• Path Smoothing

  Smooth a point sequence while fixing its endpoints; collision clearance is a separate concern.

  navigation. Account access required.

• Localization Residual

  Measure mean squared nearest-point error at a specified rigid transform.

  kinematics, sensors. Account access required.