Merge pull request #4 from charleneleong-ai/feat/big_t_post

feat: clean

_site/blog/index.html

@@ -215,7 +215,7 @@ <h5 class="quarto-listing-category-title">Categories</h5><div class="quarto-list
 
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+<div class="quarto-post image-right" data-index="0" data-categories="state space models,s4,mamba,sequence models,long range,modelling" data-listing-date-sort="1715558400000" data-listing-file-modified-sort="1716962069058" data-listing-date-modified-sort="NaN" data-listing-reading-time-sort="28" data-listing-word-count-sort="5583">
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_site/blog/posts/mamba/index.html

@@ -1843,7 +1843,7 @@ <h1 data-number="5"><span class="header-section-number">5</span> References</h1>
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_site/projects/index-python.xml

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_site/projects/index.html

@@ -243,7 +243,7 @@ <h5 class="quarto-listing-category-title">Categories</h5><div class="quarto-list
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-<div class="g-col-1" data-index="0" data-categories="robotics,control,navigation,ros" data-listing-date-sort="1715558400000" data-listing-file-modified-sort="1716531149801" data-listing-date-modified-sort="1716531149000" data-listing-reading-time-sort="10" data-listing-word-count-sort="1839">
+<div class="g-col-1" data-index="0" data-categories="robotics,control,navigation,ros" data-listing-date-sort="1715558400000" data-listing-file-modified-sort="1717033313627" data-listing-date-modified-sort="1717033313000" data-listing-reading-time-sort="10" data-listing-word-count-sort="1839">
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@@ -265,7 +265,7 @@ <h5 class="no-anchor card-title listing-title">
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-<p>May 24, 2024</p>
+<p>May 30, 2024</p>
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_site/projects/posts/bigT_ros_control/index.html

@@ -227,7 +227,7 @@ <h1 class="title">ROS Navigation and Control for a Triangular Holonomic Robot</h
       <div>
       <div class="quarto-title-meta-heading">Modified</div>
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-        <p class="date-modified">May 24, 2024</p>
+        <p class="date-modified">May 30, 2024</p>
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     </div>
 
@@ -329,7 +329,14 @@ <h1 data-number="4"><span class="header-section-number">4</span> Control Algorit
 <section id="imports-and-global-variables" class="level2" data-number="4.1">
 <h2 data-number="4.1" class="anchored" data-anchor-id="imports-and-global-variables"><span class="header-section-number">4.1</span> Imports and Global Variables</h2>
 <p>We first import our initial <code>C++</code> <code>ROS</code> headers and instantiate our global variables from the robot’s physical characteristics.</p>
-<p>We include the following headers - [<code>ros/ros.h</code>] to include too headers necessary to use the most common public pieces of the ROS system. - <a href="http://docs.ros.org/en/kinetic/api/geometry_msgs/html/msg/Twist.html"><code>geometry_msgs/Twist.h</code></a> to publish linear and angular velocities to facilitate interoperability throughout the system. - <a href="http://docs.ros.org/en/kinetic/api/geometry_msgs/html/msg/Quaternion.html"><code>geometry_msgs/Quaternion.h</code></a> to publish orientation in quarternion form. - <a href="http://docs.ros.org/en/kinetic/api/sensor_msgs/html/msg/Imu.html"><code>sensor_msgs/Imu.h</code></a> to collect sensor data message type from the IMU. The IMU node <a href="http://wiki.ros.org/razor_imu_9do"><code>razor_imu_9dof</code></a> publishes messages to the <code>"imu"</code> topic in the ROS system to be used by motion and planning algorithms such as this <a href="http://wiki.ros.org/robot_pose_ekf"><code>robot_pose_ekf</code></a>. - <a href="https://cplusplus.com/reference/cmath/"><code>math.h</code></a> to perform common mathmetical operations and transformations.</p>
+<p>We include the following headers:</p>
+<ul>
+<li>[<code>ros/ros.h</code>] to include too headers necessary to use the most common public pieces of the ROS system.</li>
+<li><a href="http://docs.ros.org/en/kinetic/api/geometry_msgs/html/msg/Twist.html"><code>geometry_msgs/Twist.h</code></a> to publish linear and angular velocities to facilitate interoperability throughout the system.</li>
+<li><a href="http://docs.ros.org/en/kinetic/api/geometry_msgs/html/msg/Quaternion.html"><code>geometry_msgs/Quaternion.h</code></a> to publish orientation in quarternion form.</li>
+<li><a href="http://docs.ros.org/en/kinetic/api/sensor_msgs/html/msg/Imu.html"><code>sensor_msgs/Imu.h</code></a> to collect sensor data message type from the IMU. The IMU node <a href="http://wiki.ros.org/razor_imu_9do"><code>razor_imu_9dof</code></a> publishes messages to the <code>"imu"</code> topic in the ROS system to be used by motion and planning algorithms such as this <a href="http://wiki.ros.org/robot_pose_ekf"><code>robot_pose_ekf</code></a>.</li>
+<li><a href="https://cplusplus.com/reference/cmath/"><code>math.h</code></a> to perform common mathmetical operations and transformations.</li>
+</ul>
 <p>We then declare our ROS publishers <code>motor_control_pub</code> to publish the motor control signal to the wheels and <code>imu_pub</code> to publish and update the robot’s orientation.</p>
 <div data-add-from="control.cpp" data-start-line="1" data-end-line="18" data-code-line-numbers="true">
 <div class="sourceCode cell-code" id="cb1" data-startfrom="1"><pre class="sourceCode numberSource cpp number-lines code-with-copy"><code class="sourceCode cpp"><span id="cb1-1"><a href="#cb1-1"></a><span class="pp">#include </span><span class="im">"ros/ros.h"</span></span>
@@ -527,18 +534,18 @@ <h2 data-number="4.4" class="anchored" data-anchor-id="deriving-the-kinematic-eq
 \omega_2 = \frac{1}{r} ( \frac{\cos(\theta) v_y}{3} - \frac{\sin(\theta) v_x}{3} + \frac{\sqrt{3} \sin(\theta) v_y}{3} + \frac{\sqrt{3} \cos(\theta) v_x}{3}  + \omega_{\text{body}} h )
 \]</span></p>
 <p><span class="math display">\[
-\omega_3 = \frac{1}{r} ( -\frac{\sqrt{3} \sin(\theta) v_y}{3} + \frac{\cos(\theta) v_y}{3} - \frac{\sqrt{3} \cos(\theta) v_x}{3} - \frac{\sin(\theta) v_x}{3} + \omega_{\text{body}} * h )
+\omega_3 = \frac{1}{r} ( -\frac{\sqrt{3} \sin(\theta) v_y}{3} + \frac{\cos(\theta) v_y}{3} - \frac{\sqrt{3} \cos(\theta) v_x}{3} - \frac{\sin(\theta) v_x}{3} + \omega_{\text{body}} h )
 \]</span></p>
 <p>These equations relate the global motion commands (<span class="math inline">\(v_x\)</span>, <span class="math inline">\(v_y\)</span>, <span class="math inline">\(\omega_{\text{body}}\)</span>) to the angular velocities of the three wheels (<span class="math inline">\(\omega_1\)</span>, <span class="math inline">\(\omega_2\)</span>, <span class="math inline">\(\omega_3\)</span>) taking into account the robot’s orientation <span class="math inline">\(\theta\)</span>, wheel radius <span class="math inline">\(r\)</span> and distance from center to the wheels <span class="math inline">\(h\)</span>.</p>
 </section>
 <section id="converting-angular-velocities-to-pwm-signal-for-motor-control" class="level2" data-number="4.5">
 <h2 data-number="4.5" class="anchored" data-anchor-id="converting-angular-velocities-to-pwm-signal-for-motor-control"><span class="header-section-number">4.5</span> Converting angular velocities to PWM signal for motor control</h2>
 <p>After we’ve calculated the angular velocities in terms on radians per second (<span class="math inline">\(rad/s\)</span>), we have to convert to a Pulse Width Modulation (PWM) signal to send updated speed and direction to the motors.</p>
 <p><strong>1. Angular Velocity to RPM</strong></p>
-<p>We first convert angular velocity (in radians per second) to revolutions per minute (RPM).</p>
-<p>We know that <span class="math inline">\(1 revolution=2\pi radians\)</span> and <span class="math inline">\(1 minute = 60 seconds\)</span>, therefore, the conversion factor is:</p>
+<p>We first convert angular velocity (<span class="math inline">\(rad/s\)</span>) to revolutions per minute (RPM).</p>
+<p>We know that <span class="math inline">\(1 \space revolution=2\pi \space radians\)</span> and <span class="math inline">\(1 \space minute = 60 \space seconds\)</span>, therefore, the conversion factor is:</p>
 <p><span class="math display">\[
-RPM = \omega\times(60/(2\pi)) \approx \omega\times 9.5493 \approx \omega\times 9.55
+RPM = \omega\times(60/2\pi) \approx \omega\times 9.5493 \approx \omega\times 9.55
 \]</span></p>
 <p><strong>2. Conversion from RPM to PWM</strong></p>
 <p>In order to measure and calibrate the relationship betwen PWM and RPM for the motor, an empirical experiment was performed in order to collect measurements and fit a linear regression model to the data.</p>
@@ -1046,7 +1053,7 @@ <h2 data-number="4.5" class="anchored" data-anchor-id="converting-angular-veloci
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