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Overview

This course builds on concepts from previous engineering courses. While you’ll learn many new skills during the project, having a solid foundation will help you succeed. This page outlines the knowledge and tools you should have before starting.

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Required Knowledge

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Programming Fundamentals

Required for: ESP32 embedded programming (WP3, WP4)You should be comfortable with:
  • Variables, data types, and operators
  • Control structures (if/else, loops)
  • Functions and modular programming
  • Pointers and references (basic understanding)
  • Object-oriented programming basics
Where you’ll use it:
  • Writing PID controllers for motor control
  • Reading sensor data (encoders, IMU)
  • Serial communication protocols
Required for: ROS2 nodes, MATLAB alternative, data analysisYou should be comfortable with:
  • Basic syntax and data structures (lists, dictionaries)
  • Functions and modules
  • File I/O operations
  • Basic OOP concepts
Where you’ll use it:
  • ROS2 launch files
  • Sensor data processing
  • Custom ROS2 nodes (optional)
Required for: WP1 - Kinematics simulationYou should be able to:
  • Write scripts and functions
  • Plot data and create visualizations
  • Use matrices and linear algebra
  • Implement basic algorithms
Where you’ll use it:
  • Forward/inverse kinematics calculations
  • Trajectory planning and simulation
  • Visualization of robot motion

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Engineering Mathematics

Linear Algebra

  • Matrix operations and transformations
  • Rotation matrices
  • Homogeneous coordinates
  • Used in: Robot kinematics, coordinate transforms

Calculus

  • Derivatives and integration
  • Differential equations (basic)
  • Used in: PID control, velocity/acceleration

Trigonometry

  • Sin, cos, tan, atan2 functions
  • Angle conversions (rad/deg)
  • Used in: Robot heading, kinematics

Control Systems

  • PID controller concepts
  • Feedback control
  • Used in: Motor speed/position control

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Electronics & Circuits

  • Voltage, current, resistance (Ohm’s Law)
  • Power calculations (P = VI)
  • Reading datasheets
  • Understanding PWM (Pulse Width Modulation)
  • GPIO (General Purpose Input/Output) pins
  • Digital vs analog signals
  • Pull-up/pull-down resistors
  • Serial communication (UART, I2C, SPI basics)
  • DC motor principles
  • H-bridge operation
  • Encoder signals (quadrature encoding)
  • Motor driver specifications

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Mechanical Design

  • CAD Software: Basic 3D modeling skills (Fusion 360, SolidWorks, or similar)
  • Engineering Drawing: Reading technical drawings, understanding dimensions
  • Assembly: Fasteners (screws, nuts, bolts), tolerances
  • 3D Printing: STL export, basic understanding of additive manufacturing

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Version Control

Git/GitHub: Version control is essential for team collaboration. You should know:
  • Creating repositories
  • Cloning, committing, pushing code
  • Branching and merging (basic)
  • Resolving merge conflicts

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Required Tools & Software

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Hardware Requirements

ComponentSpecificationPurpose
Computer8GB+ RAM, 50GB+ free storageDevelopment, simulation, ROS2
Operating SystemUbuntu 24.04 or VM capable OSROS2 requires Linux
USB CableUSB-A to Micro-USBESP32 programming
External SSD (optional)128GB+ USB 3.0Dual-boot Ubuntu alternative
Virtual Machine vs Dual Boot: ROS2 with Gazebo simulation runs slowly on VMs. If possible, dual-boot Ubuntu or use an external SSD for better performance.

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Software to Install

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For Everyone

1

MATLAB

Install MATLAB through your university license
  • Required toolboxes: Robotics System Toolbox (optional but helpful)
  • Alternative: Octave (free, but limited compatibility)
2

CAD Software

Choose one:
  • Fusion 360 (free for students) - Recommended for beginners
  • SolidWorks (university license) - More professional
  • FreeCAD (free, open source)
3

Git

  • Windows: Git for Windows (https://git-scm.com/)
  • Mac: Install via Homebrew or Xcode Command Line Tools
  • Linux: sudo apt install git
4

Text Editor / IDE

  • VSCode (recommended) - Free, excellent extensions
  • Arduino IDE (for simple ESP32 projects)

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For Embedded Systems (WP3)

1

VSCode

Download from https://code.visualstudio.com/
2

PlatformIO Extension

Install PlatformIO IDE extension in VSCode
  • Better than Arduino IDE for complex projects
  • Supports multiple libraries and platforms
  • Integrated serial monitor and debugger
3

USB Drivers

  • Windows: CH340/CP2102 USB-to-Serial drivers
  • Mac/Linux: Usually works out of the box

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For ROS2 (WP4)

1

Ubuntu 24.04 (Noble Numbat)

Options:
  • Dual-boot: Best performance (recommended)
  • Virtual Machine: VMware Workstation, VirtualBox, UTM (Mac)
  • External SSD: Ubuntu on external drive
2

ROS2 Jazzy Jalisco

Will be installed during WP4 setup
  • Requires Ubuntu 24.04
  • Installation guide in WP4 section
3

Additional Tools (installed later)

  • Terminator (terminal emulator)
  • Gazebo (simulation)
  • RViz2 (visualization)
  • PlotJuggler (data plotting)

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For PCB Design (WP2)

Choose one:
  • EasyEDA (online, free, beginner-friendly)
  • Cadence OrCAD (university license, professional)
  • KiCad (free, open source)
These skills aren’t strictly required, but will make your life easier:

Linux Terminal

  • Basic bash commands (cd, ls, mkdir, rm)
  • File permissions and ownership
  • SSH for remote access
  • Package management (apt)

Markdown

  • Document formatting
  • README files
  • This documentation uses MDX

Serial Communication

  • Using serial monitors
  • Understanding baud rates
  • Debugging serial output

Debugging

  • Reading error messages
  • Using print statements
  • Systematic troubleshooting

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Team Skills Matrix

Your team should collectively cover these areas:
Skill AreaRecommended Team Members
MATLAB/SimulationAt least 1 member
CAD/Mechanical Design1-2 members
Electronics/PCB1-2 members
Embedded Programming1-2 members
ROS2/Linux2-3 members (most complex)
Project Management1 member (coordinator)
Skill Overlap: It’s beneficial for multiple team members to understand each area. Don’t silo knowledge - share and learn together!

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Pre-Course Checklist

Use this checklist before starting the project:
1

Programming

  • Comfortable with C/C++ basics
  • Can write and run Python scripts
  • Can create MATLAB plots and functions
2

Tools

  • Git installed and GitHub account created
  • VSCode installed
  • MATLAB accessible
  • CAD software installed
3

Hardware

  • Computer meets minimum requirements
  • USB cable for ESP32 available
  • Ubuntu installation method decided
4

Knowledge

  • Understand basic electronics (Ohm’s Law, PWM)
  • Know how to read datasheets
  • Familiar with GitHub workflow
5

Team

  • Team formed (5-6 members)
  • Skills matrix completed
  • Communication method established

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Learning Resources

If you need to brush up on any prerequisites:

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Programming

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Electronics

  • Basic Electronics: All About Circuits
  • Arduino Tutorials: Even though we use ESP32, Arduino tutorials cover similar concepts

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Linux/Terminal

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CAD

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Git

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What If I’m Missing Prerequisites?

Solution:
  • Start practicing now! Use online tutorials
  • Focus on C++ for ESP32 work
  • Team up with a strong programmer
  • Attend tutorial sessions and ask questions
  • Many code examples are provided - learn by modifying them
Solution:
  • Install Ubuntu in a VM to practice
  • Complete basic terminal tutorials
  • ROS2 setup guide includes step-by-step commands
  • Linux becomes easier with practice!
Solution:
  • Follow CAD software tutorials (2-3 hours to learn basics)
  • Start with simple shapes before complex designs
  • Let team members with CAD experience lead WP2
  • You can contribute to other work packages
Solution:
  • Kinematics equations are provided in documentation
  • MATLAB code examples available on GitHub
  • Team members can collaborate on mathematical sections
  • Focus on implementation rather than derivation
Important: This is a team project! You don’t need to be an expert in everything. Leverage your team’s diverse skills and learn from each other.

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Next Steps

Team Management

Learn how to form and manage your team effectively

Project Proposal

Understand the project proposal requirements

Course Overview

Review the complete course structure

Start WP1

Begin with MATLAB simulation