A GitHub repository for the Bicycle Lab's Steer-by-Wire bicycle.
Building on Georgios Dialynas' work:
- Original repository: gdialynas/Steer-by-wire-bicycle.
- Paper: Dialynas, Georgios & Schwab, Arend & Happee, Riender. (2018). Design and implementation of a steer-by-wire bicycle.
bluetooth_teensy/ - A Teensy 4.1 together with an HC-05 Bluetooth module is used as a Bluetooth interface to Simulink. This folder hosts the code for the Teensy. Written in C++ using PlatformIO.
docs/ - Hosts the documentation for the bicycle, hardware and software.
inventory/ - Hosts the inventory of the spare parts for the hardware.
libsurvive-udp/ - Hosts the files to enable HTC Vive Tracker communication through UDP.
neokey/ - A NeoKey Trinkey is used to control the trial's start and end. Code for the NeoKey is hosted here. Written in CircuitPython.
simulink/ - Hosts the MATLAB scripts and Simulink model for the MPC controller.
teensy/ - Contains the Teensy code that acts as the brain of the bicycle. Written in C++ using PlatformIO.
unity/SbW-game/ - Contains the visualisation of the reference line that needs to be tracked. Developed in Unity.
unity/SbW-game-built/ - Contains the binaries built from unity/SbW-game/. Built for Windows 64-bit.
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$\theta$ is the handlebar angle -
$\delta$ is the fork angle -
$e$ is the angular error -
$T_h$ is the human torque -
$T_g$ is the ground reaction torque -
$y$ is the lateral position of the rear wheel -
$\psi$ is the yaw angle -
$\varphi$ is the roll angle