Side A

Engineering

Real-life builds, simulations and lab work, plus the skills behind them. Each card links to its code, report or demo.

Skills Projects

Technical skills

What I work with

Grouped by what they are used for. The projects below show them in use.

Programming

  • Python
  • C
  • C++
  • Bash

Embedded

  • AVR microcontrollers
  • ESP32
  • PCA9685 servo driver
  • Sensor and servo interfacing

Robotics

  • ROS2 Humble
  • Gazebo Classic
  • TurtleBot3
  • ament_python packages
  • World files

Control and vision

  • PID control
  • Control systems
  • Face tracking

Lab and circuits

  • Thyristor and TRIAC characteristics
  • Oscilloscope XY mode
  • Pneumatic circuits
  • Hydraulic pumps

Tools

  • Git and GitHub
  • Linux (Ubuntu)
  • Technical reports

Projects

Real-life and simulation

Use the filter to switch between hardware and lab work, and simulation work.

ESP32 + PCA9685 Replace with a photo or GIF

Hardware

Pan-Tilt Face Tracking Camera

An ESP32 camera on two servos that follows a face and keeps it in the centre of the frame. A PID loop turns the position error into servo angles through a PCA9685 driver.

  • ESP32
  • PCA9685
  • PID
  • Computer vision
GitHub ↗ Demo video ↗
TurtleBot3 × 2 Replace with a screen recording

Simulation

Leader-Follower TurtleBot3

Two TurtleBot3 robots in Gazebo. The follower trails the leader as it moves. Built as a complete ament_python package on ROS2 Humble.

  • ROS2 Humble
  • Gazebo
  • Python
  • TurtleBot3
GitHub ↗ Demo video ↗
Jazzy → Humble Replace with a screen recording

Simulation

Fusion Robot Migration

Moved the fusion robot simulation workspace from ROS2 Jazzy with Gazebo Harmonic to ROS2 Humble with Gazebo Classic.

  • ROS2
  • Gazebo Classic
  • Workspace migration
GitHub ↗
Gazebo Classic Replace with a screenshot

Simulation

Custom Gazebo World

A custom Gazebo Classic world written by hand as a world file, with a red box as its first object. Debugged until it loaded cleanly.

  • Gazebo Classic
  • World file
  • SDF
GitHub ↗
MTE 3206 Replace with a lab photo

Course lab

Hydraulic and Pneumatic Control Sessional

Lab reports for pneumatic components, a double-acting cylinder circuit and pump characteristics.

  • Pneumatics
  • Hydraulics
  • Double-acting cylinder
  • Pump characteristics
Reports (PDF) ↗
BT151 · SCR Replace with a lab photo

Course lab

Thyristor Characteristics

Experiment 04. Studied and recorded the characteristics of a BT151 thyristor on a Pudak LE30001E trainer, then wrote the report.

  • BT151
  • Thyristor
  • Pudak LE30001E
Report (PDF) ↗
BT137 · TRIAC Replace with an XY-mode photo

Course lab

TRIAC Characteristics

Experiment 05. Five readings of gate, anode and load voltage on a Pudak PT970721 trainer with a BT137, plus oscilloscope XY-mode photos from a Protek 5100.

  • BT137
  • TRIAC
  • Oscilloscope XY mode
Report (PDF) ↗
Working on

Getting the fusion robot simulation running on ROS2 Humble with Gazebo Classic.