V0.2 Software

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Goals

Layer	Role (abstract)	Input → Output
1. G-code & Intent	Describes what motion is desired, independent of hardware	`G1 X100 Y200` → Target pose + path type
2. Interpolation	Converts geometric intent into a time-parameterized reference	Target pose → Trajectory `x(t), y(t), θ(t)`
3. Correction	Aligns reference motion with estimated actual state	Trajectory + pose estimate → Body velocity `(Vx, Vy, ω)`
4. Mecanum kinematics	Maps body motion into actuator commands → `(Vx, Vy, ω)`	Motor commands `(ω1..ω4)`

The Arduino code was split according to the layers and others functions
By adding header (.h) and source (.cpp) files, the .ino file focus on orchestration
pins.h and config.h for hardware abstraction

Without interpolation (V0.1), a move like [X100 Y200] is executed as [X100 Y100] > [Y200]
With linear interpolation (G1), the X and Y motor speeds are continuously adjusted for linear path from [0, 0] to [X100 Y200]
Arc interpolation (G2/G3), I and J represent center offset from the start point.

Formula: Position(Time) = Start + (Total change) * Time

P0 = (x0, y0)
P1 = (x1, y1)

P(s) = (1 − s)·P0 + s·P1
P(s) = P0 + s·(P0 - Y0)

x(s) = x0 + s·(x1 − x0)
y(s) = y0 + s·(y1 − y0)

Ref:

Arduino
Processing