# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: LZU Ascento
summary: A two-wheeled, four-bar-linkage wheel-leg balancing robot modeled on the ASCENTO, controlled with LQR on an STM32H723 board.
category: other
difficulty: advanced
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/hpzhaozhao/LZU_ASCENTO
  ref: 8e2737c7b4d0c1a5edd886adae8cb32b59c44864
tools:
  - 3D printer
  - CNC machine
  - soldering iron
files:
  parts_3d: lzu_ascento/cmake-build-debug-stm32/
  cad: dm-mc02-master/LCD模块/
  images:
    - dm-mc02-master/image/DM_H7.png
build_steps:
  - title: Model the robot in SolidWorks and assign material densities for mass estimation
  - title: Select and buy the leg joint motors and wheel hub motors
  - title: Print the 3D printed parts and CNC-machine the leg parts
  - title: Assemble the leg four-bar linkage and wheels
  - title: Set up STM32H723 board with STM32CubeMX and CLion, and bring up CAN communicatio
  - title: Implement attitude estimation with BMI088 IMU and filtering algorithms
  - title: Generate the LQR K matrix in MATLAB and deploy the controller to the STM32
  - title: Configure ELRS remote control receiving and map channels to functions
  - title: Tune the wheel and leg controllers and verify motor and IMU directions