C and C++ code from assorted embedded projects
BALANCEBOT
A Segway-style balancing robot with a minimal-order observal control system
http://junkboxraider.blogspot.com/2014/01/lego-segway-with-minimal-order-observer.html
LITTLE DRUMMER BOY
A stationary drumming robot that played a pair of bongos
http://junkboxraider.blogspot.com/2011/09/little-drummer-boy-drum-machine-with.html
MODDROID
Code for "facial" expressions on a mobile, modular social robot
http://junkboxraider.blogspot.com/2011/09/moddroid-we-hardly-knew-ye.html
THOR
In-progress personal robot project for indoor navigation; code here is for mobility control