Teensy boardV 1

TruggySense

The foundation for a new off-road era of (autonomous) RC-vehicles!

Developed by Robbe Elsermans through Cosys-Lab at University of Antwerp.

Welcome to the readme! A list of what this repo includes

• all files related to the end product,
• source code,
• manuals of the final system,
• a future perspective (inside the paper).

cad

Everything related to specialized mounts, holders, and cases to build upon the Team Corally Kagama 1/8 RC vehicle chassis. Furthermore, it contains also schematics and circuits drawn in KiCAD.

code

Build in Platform IO (extension of VS-Code)

• LowLevelController containing the code for the LLC developed for a Teensy4.1 MCU,
• base_station contains code for the base station telemetry receiver,
• matlab holds some scripts to review the converted offline data,
• nodered describes the used flow and needed pallets to set things up locally.
• acquired_data has captured data of several runs during experiments. Both the binary as the converted JSON are present there.
• examples contains sketches used to test modules and sensors out during development. They served as a starting point to develop the drivers so don't expect them to be fully updated!

docs

• the portfolio of the whole project with a nice How To guide at the end,
• the paper, also available on arXiv: https://arxiv.org/abs/2505.07399.

Note that inside code/LowLevelController/docs, a doxygen is present giving insights into the code.

Future perspectives

Right now, the TruggySense framework is at the beginning of its era. A great number of work and tinkering is done already. Nevertheless, there is still a long path ahead where opportunities can emerge. Some future work listed below.

Future work for TruggySense

• Modularity
• Reproducability
• Code Independency

Future work that is build upon TruggySense

• Advanced Driver Assistance System (ADAS) -> TruggyAssist
• Autonomous Agent -> TruggyDrive

licence

BY-SA 4.0 (Attribution-ShareAlike 4.0 International) See licence.txt for the disclaimer