Ruby on Wheelchair
summary
Builds a custom controller by putting mruby on STM32 and a Raspberry Pi, replaces the stock controller to drive two DC motors with wheel encoders and a stepper test rig, and exposes a web UI via Raspberry Pi + Sinatra. Adds battery monitoring by characterizing a 24V-to-3.3V voltage divider on a programmable supply, two-LTE peer-to-peer remote control, and LIDAR obstacle detection for automatic slow/stop. The wheelchair runs and is usable, costs about half of comparable commercial electrics, but still shows flaky wireless, poor touch control and non-constant motor power.
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chapters (7)
- 0:00Start
- 2:05The Wheelchair
- 4:36The New Wheelchair Control
- 5:24Architecture
- 14:38Wheelchair optimized Navigation
- 18:44Ruby Ecosystems
- 19:59How to improve from here
