🧹 Autonomous Vacuum Cleaner (STM32F103C8T6 + RTOS)

This project is an RTOS-based autonomous vacuum cleaner built on the STM32F103C8T6 microcontroller. It uses ultrasonic sensors and bumper switches for obstacle detection and avoidance, with FreeRTOS managing the system's concurrent tasks.

🚀 Features

• Real-time obstacle avoidance using ultrasonic sensors (HC-SR04)
• Collision detection via bumper switches
• DC motor control using PWM via L298N motor driver
• Task scheduling and multitasking with FreeRTOS

🛠️ Hardware Used

• STM32F103C8T6 ("Blue Pill")
• HC-SR04 ultrasonic sensors (x4)
• Bumper switches (x2)
• L298N motor driver
• 2 DC motors + wheels
• Battery pack (11.1 LiPo)
• 2-wheel custom chassis

⚙️ Software Architecture

• RTOS Kernel: FreeRTOS (manages task switching and scheduling)
• Tasks:
  • SensorTask: Reads ultrasonic and bumper data periodically
  • MotorTask: Handles direction and speed control
• Inter-task communication via queues or flags

🧠 What I Learned

• Real-time task management with FreeRTOS on STM32
• Efficient sensor integration with closed-loop control
• Interfacing motor drivers and sensors in an RTOS environment

🚧 Future Improvements

• Add speed control using rotary encoders
• Improve obstacle recovery strategy
• Incorporate mapping or SLAM algorithms
• Remote control override (e.g., via Bluetooth or Wi-Fi)