Work
Selected work.
A few projects, in depth. Each one runs the full path, from raw sensor data to something a system can act on, with an honest account of what I owned and what I’d change.
01Flagship
Ground-analysis rover
A road-surface inspection robot that scores the ground it drives over and pins every reading to a GPS coordinate. Built twice: a physical ESP32 + Raspberry Pi rover on micro-ROS, and a Gazebo digital twin running the full EKF and a live slope / roughness heatmap.
- ROS2 Jazzy
- micro-ROS
- FreeRTOS
- Gazebo Harmonic
- EKF
- ESP32
02In progress
Split-flap display
A from-scratch mechatronic build. The hard part isn't the look. It's making an open-loop stepper behave like a closed-loop system: re-homing every move via a Hall sensor, per-unit EEPROM calibration, custom firmware.
- Steppers
- Hall sensor
- EEPROM
- Custom firmware
- C/C++