making robots with mruby
summary
Claims that mruby on bare metal and TOPPERS EV3RT run on LEGO Mindstorms EV3 and Raspberry Pi and can do real hardware control often reserved for C. Implements an inverted pendulum control using mruby plus small C pieces, reading sensors and driving motors in three RTOS tasks with priority scheduling. Two robot builds exist: one balances but is mechanically rough, the other is an ongoing experiment; most source is published though a closed control module prevents full release.
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chapters (8)
- 0:00Introduction and speaker intro
- 2:53mruby background and history
- 7:34mdb debugger creation
- 12:23Robot competition overview
- 16:47First robot: mruby4ESC
- 20:17Second robot: mruby on TOPPERS
- 24:46Real-time OS basics
- 31:15Live demo and Q&A
