This repository provides a complete firmware solution for building a DIY force feedback (FFB) steering wheel for sim racing, targeting Arduino Leonardo/Micro/ProMicro (ATmega32U4). The firmware implements a custom USB HID joystick with full FFB support (constant, ramp, spring, damper, inertia, friction, periodic effects) and runs a 500 Hz control loop. It supports multiple hardware configurations: optical or magnetic encoders, PWM or DAC motor output, load cell pedals, button matrices, shift registers, and more. The codebase is a heavily modified fork of the BRWheel project, with custom Arduino core modifications to enable FFB HID descriptors. The repository includes precompiled HEX files for dozens of hardware variant combinations, wiring diagrams, and a serial configuration interface. While functionally complete and actively maintained, the code exhibits high technical drift due to reliance on Arduino IDE 1.8.5 and manual core patching, and the monolithic structure with extensive conditional compilation makes maintenance and reuse challenging.
This repository provides the firmware and desktop tools for Petoi's quadruped robots (Bittle, Nybble, Chero). The core is an Arduino-based firmware (OpenCat.ino) running on ATmega328P (NyBoard) that handles servo control, gait generation, IMU integration, sensor processing (IR, ultrasonic, gesture, voice), and skill execution via pre-programmed motion sequences. A Python desktop application (pyUI) offers firmware upload, joint calibration, skill composition, and debugging. A Python serial API (serialMaster, OpenCatPythonAPI) enables scripting robot behaviors. The architecture is monolithic firmware with conditional compilation for multiple hardware variants and sensor options. While the project has a large user base and extensive documentation, the codebase shows signs of technical drift: it is explicitly legacy (development moved to OpenCatESP32), relies on outdated libraries, has duplicated code (e.g., three copies of IRremote), and uses global state and hardcoded paths. The skill system and serial protocol are well-defined patterns, but overall reusability is limited by tight coupling to specific hardware and board versions.