Gemini Micromouse

What did I do just now?

• Learned about floodfill through UCLA IEEE document
• Made a presentation to learn about it
• Wrote the base algorithm in pseudocode, next i have to do wall checking!

I got the MPU to work and added it to the turning
Now it uses encoder-based turning with MPU for checking/compensation

What did I do today?

• Used an I2C scan to make sure my MPU shows up
• Tested the MPU with help from Claude
• integrated this into my main code
• got it to log through the Serial
• tried to use it for turning but don’t know where to put it (interrupt, loop(), core 2 etc.)

I tried to add the MPU 6050 gyroscope in, but it just hangs & doesn’t give any readings so i don’t know why!

A quick session where I:

• Hardcoded the maze to see how well it drives without PID
• Added a config menu so I don’t need to keep recompiling to change mode!

I worked for 1 hour to:

• get wall following to work
• rewrite the stateful wall following function
• calibrate different turning compensation and Kp/Kd values

and now it works (kind of…)

I added Bluetooth-based configuration to my robot - no more recompiling just to change Kp or Kd values!