This is a template to create a RBDC project for a differential robot, using PlatformIO and FreeRTOS framework, on es^ressif32 (ESP32) platform.
Note
The RBDC stand for "Robot Base Drive Control". It's a library to control a robot from an embedded target (like a STM32 on a NUCLEO-F446RE), regarding the number of wheels or the type of odometry.
The user has to properly "connect" the RBDC to his hardware, then periodically update the RBDC to update the odometry and the motor target speeds.
It's still under development, main library repository can be found here: https://github.com/catie-aq/6tron_RBDC.
Warning
You will need to use CPP17, hence the build flags changes in platformio.ini. (or else the RBDC can't be build. Issue to investigate)