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-= Project i wanna die plis
-
-== Project Description
-  This was but a sad attempt at making a "budget" [Slam]
-  (Simultaneous localization and mapping) robot-vehicle, with a time of flight
-  Lazer sensor.It uses the esp32 as it's brains (tons of io pins, 2 core, wifi &
-  bluetooth on chip,low consumption,etc.) and a arduino nano that acts as a slave
-  controling the drive tracks by taking commands from the esp32.
-
-== Working principal
-  The working principal behind the robot is based on dead reckoning meaning we
-  create the map as we go assuming we've started from position 0,0.Using the tof
-  sensor we get measurments from all directions (360 degrees) this happens using
-  the stepper motor along with the hall effect sensors so we the degree of each
-  measurment great so now we can bind these values (distnace,angle) to the
-  robot's postion.The problem with our particular platform was space limitations
-  and the fact that the tracks are moved by dc motors some solutions on these
-  problems would be if possible driving the tracks by stepper motors directly or
-  otherwise so we know exactly how many steps each track has made therefore
-  deducing the robots position or using photo encoders in the small dc motors
-  producing the same effect.(problems with bad  are also very real and can throw
-  off our measurments but hey we're not supposed to send this robot on mars )
-  Being able to determine our traveled distance and having 360 "accurate"
-  measurments of the space traversed would enable us to construct an algorithm
-  which by  using these data  could find a way to traverse the space creating a
-  map along the way.
-
-
-== Parts
-- Esp32
-- Arduino Nano
-- 28BYJ-48 Stepper
-- ULN2003 Stepper Motor Driver
-- I2C Logic Level Converter
-- VL53L1X
-- Hall Sensor
-- Slip ring
-- 2x18650 Batteries
-- Battery Protection Board
-- Toy truck
-- L298N Motor Driver
-
-image:./pics/esp32.jpg[200,200]
-image:./pics/nano.jpg[200,200]
-image:./pics/stepper&driver.jpg[200,200]
-image:./pics/logic_level.jpg[200,200]
-image:./pics/sensor.jpg[200,200]
-image:./pics/hall.jpg[200,200]
-image:./pics/slipdisc.png[200,200]
-image:./pics/bat.jpeg[200,200]
-image:./pics/bms.jpg[200,200]
-image:./pics/truck.png[200,200]
-image:./pics/L298N.jpg[200,200]
-
-image:./pics/diagram.png[1000,1000]
-
-== Difficulties & things to consider
-- Acquiring location position in a room
-- Getting accurate data from budget sensors with low resolution
-- Calculating travel distance based on Dc motors
-- Maintaning electrical connections between the two rotating parts
-
-== Problems that managed to get solved
-=== - Getting angle of measurment
-    Solution: Using a Hall sensor and a magnet to find 0 degree spot & using a
-    stepper motor with known gear ratio so we know the step angle
-=== - Power consumption
-   Solution: Used 2xcells 18650 batteries  because simple alkaline batteries
-   wheren't up to the task
-
-=== helpful links:
-link:https://www.youtube.com/watch?v=fQ2iB7qkrUg[youtube homemade lidar]