Add Robotics Project Master Guide

- Add Robotics Project master guide
- Add support for MermaidJS diagrams
- Add content to topic stub pages

Author: kaiyun717

.ruby-version

@@ -1 +1 @@
-2.7.8
+3.2.2

Gemfile

@@ -13,6 +13,7 @@ end
 
 gem "nokogiri", ">= 1.10.8"
 gem "kramdown", ">= 2.3.0"
+gem 'webrick', "~> 1.7"
 gem "minimal-mistakes-jekyll"
 
 

Gemfile.lock

@@ -267,6 +267,7 @@ GEM
       unf_ext
     unf_ext (0.0.9.1)
     unicode-display_width (1.8.0)
+    webrick (1.9.0)
 
 PLATFORMS
   ruby
@@ -281,6 +282,7 @@ DEPENDENCIES
   kramdown (>= 2.3.0)
   minimal-mistakes-jekyll
   nokogiri (>= 1.10.8)
+  webrick (~> 1.7)
 
 BUNDLED WITH
    2.1.4

README.md

@@ -54,7 +54,7 @@ The Robotics Knowledgebase makes use of the following:
 
 ### Directories
 The wiki itself is contained in the `/wiki` folder. The `/docs` folder exists to contain future documentation on contributing and supporting the wiki. The wiki contains the following categories:
-- **Actuation**
+- **Controls & Actuation**
   - Topics related to the moving components including motors and controls.
 - **Common Platforms**
   - Covers common hardware and software frameworks used in robotics. ROS is included here.

_config.yml

@@ -165,6 +165,9 @@ kramdown:
   toc_levels: 1..6
   smart_quotes: lsquo,rsquo,ldquo,rdquo
   enable_coderay: false
+  parse_block_html: true
+  syntax_highlighter_opts:
+    disable: true
 
 
 # Search

_data/navigation.yml

@@ -9,7 +9,26 @@ wiki:
       - title: Wiki Index
         url: /wiki/
       - title: Contribute
-        url: /docs/
+        url: /docs/index/
+  - title: Robotics Project Guide
+    url: /wiki/robotics-project-guide/master-guide/
+    children:
+      - title: Define your goals and requirements
+        url: /wiki/robotics-project-guide/define-your-goals-and-requirements/
+      - title: Choose a robot
+        url: /wiki/robotics-project-guide/choose-a-robot/
+      - title: Make a robot
+        url: /wiki/robotics-project-guide/make-a-robot/
+      - title: Choose a language (or languages)
+        url: /wiki/robotics-project-guide/choose-a-language/
+      - title: Robot communication
+        url: /wiki/robotics-project-guide/choose-comm/
+      - title: Choose a simulator
+        url: /wiki/robotics-project-guide/choose-a-sim/
+      - title: Test and debug your robot
+        url: /wiki/robotics-project-guide/test-and-debug/
+      - title: Demo day!
+        url: /wiki/robotics-project-guide/demo-day/
   - title: System Design & Development
     url: /wiki/system-design-development/
     children:
@@ -120,7 +139,7 @@ wiki:
         url: /wiki/sensing/azure-block-detection/
       - title: DWM1001 UltraWideband Positioning System
         url: /wiki/sensing/ultrawideband-beacon-positioning.md
-  - title: Actuation
+  - title: Controls & Actuation
     url: /wiki/actuation/
     children:
       - title: Motor Controller Feedback
@@ -365,7 +384,7 @@ docs:
       - title: Wiki Index
         url: /wiki/
       - title: Contribute
-        url: /docs/
+        url: /docs/index/
   - title: Contribute
     children:
       - title: Introduction

_includes/mermaid.html

@@ -0,0 +1,10 @@
+<script src="https://unpkg.com/[email protected]/dist/mermaid.min.js"></script>
+<script>
+  $(document).ready(function () {
+    mermaid.initialize({
+      startOnLoad:true,
+      theme: "default",
+    });
+    window.mermaid.init(undefined, document.querySelectorAll('.language-mermaid'));
+  });
+</script>

_includes/scripts.html

@@ -51,3 +51,15 @@
    });
 </script>
 {% endif %}
+
+<script src="https://unpkg.com/[email protected]/dist/mermaid.min.js"></script>
+<script>
+  $(document).ready(function () {
+    mermaid.initialize({
+      startOnLoad:true,
+      theme: "default",
+    });
+    window.mermaid.init(undefined, document.querySelectorAll('.language-mermaid'));
+  });
+</script>
+ 

about.md

@@ -14,6 +14,7 @@ To accelerate the development of both projects and individual skills, we need an
 *This* is that knowledge base. Here, you will find guidance on the full spectrum of our field.
 
 ### Where should I start?
+This wiki is meant for people in various stages of their career, including absolute beginners. If you are just starting out in robotics, we recommend you to start from [Robotics Project Guide](wiki/robotics-project-guide/master-guid). This tutorial talks about what to consider and plan for in each step of a robotics project and provides ample resources.
 
 ### How can I contribute?
 

assets/images/robotics_project_guide/CoppeliaSim_sim.jpg

@@ -80,7 +80,9 @@ The Robotics Knowledgebase makes use of the following:
 
 ### Directories
 The wiki itself is contained in the `/wiki` folder. The `/docs` folder exists to contain future documentation on contributing and supporting the wiki. The wiki contains the following categories:
-- **Actuation**
+- **Robotics Project Guide**
+  - Overall guide on start-to-end for robotics projects.
+- **Controls & Actuation**
   - Topics related to the moving components including motors and controls.
 - **Common Platforms**
   - Covers common hardware and software frameworks used in robotics. ROS is included here.

assets/images/robotics_project_guide/airsim_sim.png

@@ -1,6 +1,53 @@
 ---
-date: 2017-09-13
-title: Actuation
+date: 2024-12-05
+title: Controls & Actuation 
 ---
-**This page is a stub.** You can help us improve it by [editing it](https://github.com/RoboticsKnowledgebase/roboticsknowledgebase.github.io).
-{: .notice--warning}
+<!-- **This page is a stub.** You can help us improve it by [editing it](https://github.com/RoboticsKnowledgebase/roboticsknowledgebase.github.io).
+{: .notice--warning} -->
+
+The "Controls & Actuation" section provides a detailed guide to implementing and understanding a range of actuation and control methodologies essential for robotics and automation. Topics span from high-level motion planning to low-level motor controllers, helping engineers bridge the gap between conceptual design and physical motion. The section includes insights into both theoretical foundations and practical implementations.
+
+## Key Subsections and Highlights
+
+- **[Drive-by-wire Conversion for Autonomous Vehicles](/wiki/actuation/drive-by-wire/)**
+  Explains the principles and types of drive-by-wire systems, including throttle-by-wire, brake-by-wire, and steer-by-wire, and their role in modern autonomous vehicles.
+
+- **[Linear Actuator Resources and Quick Reference](/wiki/actuation/linear-actuator-resources/)**
+  A comprehensive overview of linear actuation systems, covering linear guides, belt drives, screw systems, and rack-and-pinion setups.
+
+- **[Model Predictive Control Introduction and Setup](/wiki/actuation/model-predictive-control/)**
+  Discusses Model Predictive Control (MPC), its benefits, and implementation in robotics for handling constraints in multi-input, multi-output systems.
+
+- **[Motor Controller with Feedback](/wiki/actuation/motor-controller-feedback/)**
+  Introduces motor controllers with encoder feedback, highlighting the Pololu Jrk 21v3 USB Motor Controller as an example.
+
+- **[MoveIt Motion Planning and HEBI Actuator Setup and Integration](/wiki/actuation/moveit-and-HEBI-integration/)**
+  Outlines using MoveIt in ROS for robotic motion planning and integrating it with HEBI actuators for hardware execution.
+
+- **[PID Control on Arduino](/wiki/actuation/pid-control-arduino/)**
+  Explains implementing PID control on Arduino platforms, including tips for tuning and integrating Kalman filters for noisy sensors.
+
+- **[Pure-Pursuit Based Controller for Skid Steering Robots](/wiki/actuation/Pure-Pursuit-Controller-for-Skid-Steering-Robot/)**
+  Covers the Pure-Pursuit algorithm for trajectory tracking in skid-steering robots, including implementation steps and constraints.
+
+- **[Task Prioritization Control for Advanced Manipulator Control](/wiki/actuation/task-prioritization-control/)**
+  Details task prioritization control for robotic manipulators to manage redundant degrees of freedom and prioritize multiple simultaneous tasks.
+
+- **[Using ULN 2003A as a Motor Controller](/wiki/actuation/uln2003a-motor-controller/)**
+  Explains how the ULN 2003A Darlington Array can be used as a motor controller for low-power motors and relays.
+
+- **[Vedder Open-Source Electronic Speed Controller](/wiki/actuation/vedder-electronic-speed-controller/)**
+  Highlights features and advantages of the Vedder ESC, an open-source electronic speed controller for brushless DC motors.
+
+## Resources
+
+- [Drive-by-wire System Overview](https://carbiketech.com/drive-by-wire-technology-working/)
+- [Linear Motion Components - Misumi](https://us.misumi-ec.com/)
+- [Model Predictive Control - MATLAB Guide](https://www.mathworks.com/videos/series/understanding-model-predictive-control.html)
+- [Pololu Jrk 21v3 USB Motor Controller](https://www.pololu.com/product/1392)
+- [MoveIt Tutorials for ROS](https://ros-planning.github.io/moveit_tutorials/)
+- [Arduino PID Library](http://playground.arduino.cc/Code/PIDLibrary)
+- [Task Priority Control - Robotics Journal](https://journals.sagepub.com/doi/10.1177/027836498700600201)
+- [Pure-Pursuit Algorithm Reference](https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf)
+- [ULN 2003A Documentation](https://www.ti.com/lit/ds/symlink/uln2003a.pdf)
+- [Vedder ESC Project](http://vedder.se/2015/01/vesc-open-source-esc/)