🤖 Motor Control via UART + ROS2

PID control of four motors and one servo using Arduino and a Raspberry Pi running ROS2. Communication between the two platforms is handled over UART. Includes state machine logic and sensor integration.

ROS2 motor control 1 ROS2 motor control 2
ROS2 UART L293D ATmega328P
🌐 FreeRTOS + PID + Web Interface

Real-time temperature controller using ESP32 and FreeRTOS, with a web-based UI for live data and control.

ESP32 Temperature UI PID Graph
ESP32 FreeRTOS PID ESPAsyncWebServer

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💻 RISC-V CPU Core in VerilogPermalink

Developed a simplified RISC-V CPU core in Verilog as part of an academic FPGA lab. The project was structured in modular stages: fetch, decode, execute, memory, and writeback.

CPU GUI CPU Diagram
Instruction Fetch & Decode PC and Branch Logic ALU and Register File Load/Store Unit & Data Memory

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