[User Command] → [CLI Parser] → [Motion Controller] ↓ [Sensors] → [Sensor Fusion] → [State Estimator] → [PID Controller] → [Motor Driver] ↓ [Safety Monitor] ←─────────────────────────┘

// Motor left #define MOTOR_L_PWM 5 #define MOTOR_L_DIR1 6 #define MOTOR_L_DIR2 7 #define ENCODER_L_A 2 #define ENCODER_L_B 3

// IMU #define IMU_I2C_ADDR 0x68 #define IMU_UPDATE_HZ 200

The v0.2 iteration is defined as the "Sensory Transition" phase. The primary objective was to move beyond basic wheeled movement (the sole capability of v0.1) and equip the unit with the ability to perceive its surroundings. This upgrade is essential for the future implementation of autonomous pathfinding and object manipulation.

While v0.2 is a substantial improvement, several limitations remain: