Here is software part of INSA'segway project. Repository contains following directories:
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docs: Technical documentations but also practical works for students
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monitor: User interface, written in C#
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raspberry: Control software running on raspberry, using Xenomai libraries. Must be written by students (main part of hands-on workshop)
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stm32: Contains two flavors of code for STM32 board: one with complete feature, to use on real segway, the other striped down for simulator uses