Merge branch 'main' of github.com:Sharwin24/sharwin24.github.io

assets/styles/layouts/single.scss

@@ -1,3 +1,13 @@
+.github-button {
+  text-align: center;
+  background-color: transparent;
+  border: 1px solid transparent;
+  border-radius: 0.25rem;
+  color: get-light-color('muted-text-color');
+  background-color: get-light-color('bg-card');
+}
+
+
 body.kind-page {
   background-color: get-light-color('bg-secondary');
   position: relative;

config.yaml

@@ -127,6 +127,7 @@ params:
     maxVisibleSections: 5
   
   # Enable and configure blog posts
+  # site.Params.features.tags.enable
   features:
     readingTime:
       enable: true
@@ -134,6 +135,8 @@ params:
       title: "Project Posts"
       enable: true
       showAuthor: true
+    tags:
+      enable: true
     analytics:
       enabled: true
       services:

content/posts/robot-arm-edu/index.md

@@ -17,8 +17,56 @@ tags: ["3D Printing", "Arduino", "C++", "MATLAB"]
 An educational kit designed to teach the fundamentals of kinematics and dynamics. The kit is intended to accompany the course ME3460: Robot Dynamics & Control at Northeastern University. The kit is a physical representation of the final project, which is currently done purely through MATLAB simulation.
 
 ## Kit Design
+The robot is a 3-link planar manipulator with 3 degrees of freedom. The end effector is a simple gripper that can grab small objects.
+
 The entire kit is composed of 3D printed parts, and off-the-shelf hardware/electronics. Students can assemble the kit without any soldering and with minimal tools.
 
-<div align="center">
-    <img src="assembly_instructions.png" alt="Assembly Instructions" style="border-radius: 15px;">
+<div align="center" style="display: flex; flex-wrap: wrap; justify-content: center; gap: 15px;">
+  <img src="step_1.png" alt="First Step of Instructions" style="border-radius: 15px; width: 45%;">
+  <img src="pcb_instructions.png" alt="PCB Instructions" style="border-radius: 15px; width: 45%;">
+  <img src="base_instructions.png" alt="Base Assembly" style="border-radius: 15px; width: 45%;">
+  <img src="full_assembly_instructions.png" alt="Full Assembly" style="border-radius: 15px; width: 45%;">
 </div>
+
+The instructions are laid out in simple steps, akin to LEGO instructions. A custom PCB was developed to simplify the wiring process and off the shelf stepper motors and drivers were used for easy integration with the Arduino microcontroller.
+
+<div align="center">
+    <img src="students_building.png" alt="Students Building Kit" style="border-radius: 15px;">
+</div>
+
+## Software
+
+In order to control the robot arm, a custom library was written in C++ to handle the microstepping. The library followed the same technique as the AccelStepper library to enable concurrent motion of multiple motors at a time in addition to applying acceleration and velocity profiles. A custom library meant students could easily write and implement their own motion profiles without having to deal with the hardware specifics.
+
+```cpp
+void LinkStepperMotor::computeNewPulseInterval() {
+	// Acceleration curve is split into 3 parts: acceleration, steady-state, deceleration
+	int totalSteps = abs(this->targetPosition - this->previousTargetPosition);
+	int stepsRemaining = this->getStepsRemaining();
+	int stepsCompleted = totalSteps - stepsRemaining;
+	int n1 = totalSteps / 3;
+	int n2 = 2 * n1;
+	uint16_t speedSPS = this->currentSpeedSPS;
+	// Determine which range we are in to apply the correct part of the acceleration curve
+	if (stepsCompleted <= n1) {
+		// Acceleration
+		// a(n) = k * n1 + a0
+		// v(n) = 0.5 * k * n^2 + a0 * n + v0
+		speedSPS = (0.5f * this->accelerationRate * pow(stepsCompleted, 2)) + (this->initialAcceleration * stepsCompleted) + this->initialSpeedSPS;
+	} else if (stepsCompleted >= n1 && stepsCompleted <= n2) {
+		// Steady-state
+		// a(n) = a_max = k * n1 + a0
+		// v(n) = (k * n1 + a0) * n - 0.5 * k * n1^2 + v0
+		speedSPS = ((this->accelerationRate * n1 + this->initialAcceleration) * stepsCompleted) - (0.5f * this->accelerationRate * pow(n1, 2)) + this->initialSpeedSPS;
+	} else { // (stepsCompleted >= n2)
+		// Deceleration
+		// a(n) = -k * n + k * n2 + a_max
+		// v(n) = -0.5 * k * n^2 + (k * n1 + k * n2 + a0) * n - 0.5 * k * (n1^2 + n2^2) + v0
+		speedSPS = (-0.5f * this->accelerationRate * pow(stepsCompleted, 2))
+			+ (this->accelerationRate * n1 + this->accelerationRate * n2 + this->initialAcceleration) * stepsCompleted
+			- (0.5f * this->accelerationRate * (pow(n1, 2) + pow(n2, 2)))
+			+ this->initialSpeedSPS;
+	}
+	this->setSpeedSPS(speedSPS);
+}
+```

layouts/_default/single.html

@@ -62,6 +62,11 @@
         {{ if site.Params.features.tags.enable }}
           {{partial "misc/tags.html" .Params.tags }}
         {{ end }}
+        <!-- <div class="github-button">
+          <a href="https://github.com/Sharwin24/" target="_blank" class="btn btn-primary">
+            <i class="fab fa-github"></i> View on GitHub
+          </a>
+        </div> -->
         <div class="post-content" id="post-content">
           {{ .Page.Content }}
         </div>

layouts/partials/misc/tags.html

@@ -1,8 +1,7 @@
 <div class="tags">
   <ul style="padding-left: 0;">
     {{ range . }}
-    {{ $url:= printf "tags/%s/" . }}
-    <li class="rounded"><a href="{{ $url | urlize | relLangURL }}" class="btn btn-sm btn-info">{{ . }}</a></li>
+    <li class="rounded"><a class="btn btn-sm btn-info">{{ . }}</a></li>
     {{ end }}
   </ul>
 </div>