Triton-Robotics/TR-mbed
Apr 2025 – Feb 2026
7 Months active
Languages Used
C++JLink ScriptMakefileMarkdownNone
Technical Skills
C++Control SystemsEmbedded SystemsOdometryPID ControlRobotics
arugoa
PROFILE
Arugoa
Arihant Jain developed advanced robotics control and navigation features for the Triton-Robotics/TR-mbed repository over seven months, focusing on modular, scalable architectures for autonomous and remote-operated robots. He implemented subsystems for turret, chassis, and omniwheel control, integrating C++ and CAN bus communication to enable precise motion and real-time feedback. His work included PID tuning, odometry enhancements, and Jetson module integration, supporting both teleoperation and autonomous navigation. By refactoring control loops, improving build systems with CMake, and introducing robust documentation, Arihant delivered maintainable, testable code that improved system reliability, safety, and performance across multiple robot platforms and operating environments.
Overall Statistics
Feature vs Bugs
97%Features
Repository Contributions
72Total
Bugs
1
Commits
72
Features
34
Lines of code
410,674
Activity Months7
Your Network
12 peopleShared Repositories
12
Work History
February 2026
6 Commits • 3 Features
Feb 1, 2026February 2026 monthly summary for Triton-Robotics TR-mbed focused on delivering remote-operable capabilities across Hero and Infantry platforms, stabilizing core control loops, and tightening shooter reliability. The work enabled flexible, safer remote operation and set a foundation for scalable teleoperation.
6 Commits • 3 Features
Feb 1, 2026February 2026 monthly summary for Triton-Robotics TR-mbed focused on delivering remote-operable capabilities across Hero and Infantry platforms, stabilizing core control loops, and tightening shooter reliability. The work enabled flexible, safer remote operation and set a foundation for scalable teleoperation.
February 2026
January 2026
14 Commits • 3 Features
Jan 1, 2026Month: 2026-01 — Triton-Robotics/TR-mbed Key features delivered: - Turret, OmniWheel, and Chassis Control Evolution: Consolidated improvements to turret control, chassis management, and omniwheel integration with enhanced yaw/pitch handling, motor configurations, initialization flows, and subsystem coordination. Notable milestones include omniwheel subsystem integration with the turret subsystem; Turret working checkpoint; and baseline units/subsystems coordination scaffolding. - Shooter and IMU Integration and Tuning: Implemented Working ShooterSubsystem, added BNO055 read() functionality, and continued PID/config refinement to enable accurate targeting and reliable firing, with IMU integration progressing toward full subsystem coverage. - Jetson Integration and Base Robot Framework: Jetson checkpoint established, base loop structure implemented, modularity improvements, and repository housekeeping to streamline future iterations. Major bugs fixed and stability improvements: - Build stabilization: resolved a blocking flash/build issue related to a broken CMake path while incorporating initial inf.cpp scaffolding. - Sensor integration stability: added IMU read() support (BNO055) and integrated into the main loop to enable reliable sensing and targeting. Overall impact and accomplishments: - Delivered a modular, scalable control fabric for turret, drive, and shooter subsystems, enabling faster feature delivery and more reliable testing for teleop/autonomy scenarios. - Established Jetson-powered autonomy groundwork and base robot framework, laying the foundation for perception/planning integrations and improved cross-team collaboration. Technologies/skills demonstrated: - Embedded C++ design, real-time control loops, and subsystem coordination. - PID tuning, sensor integration (IMU/BNO055), and heat management considerations. - Jetson integration groundwork, repository hygiene, and build-system troubleshooting. Top achievements: - Turret/OmniWheel/Chassis control evolution with integrated subsystems and checkpoints. - ShooterSubsystem implementation with IMU integration (BNO055). - Jetson integration checkpoint and base loop groundwork. - Build stabilization enabling reliable development iterations.
January 2026
14 Commits • 3 Features
Jan 1, 2026Month: 2026-01 — Triton-Robotics/TR-mbed Key features delivered: - Turret, OmniWheel, and Chassis Control Evolution: Consolidated improvements to turret control, chassis management, and omniwheel integration with enhanced yaw/pitch handling, motor configurations, initialization flows, and subsystem coordination. Notable milestones include omniwheel subsystem integration with the turret subsystem; Turret working checkpoint; and baseline units/subsystems coordination scaffolding. - Shooter and IMU Integration and Tuning: Implemented Working ShooterSubsystem, added BNO055 read() functionality, and continued PID/config refinement to enable accurate targeting and reliable firing, with IMU integration progressing toward full subsystem coverage. - Jetson Integration and Base Robot Framework: Jetson checkpoint established, base loop structure implemented, modularity improvements, and repository housekeeping to streamline future iterations. Major bugs fixed and stability improvements: - Build stabilization: resolved a blocking flash/build issue related to a broken CMake path while incorporating initial inf.cpp scaffolding. - Sensor integration stability: added IMU read() support (BNO055) and integrated into the main loop to enable reliable sensing and targeting. Overall impact and accomplishments: - Delivered a modular, scalable control fabric for turret, drive, and shooter subsystems, enabling faster feature delivery and more reliable testing for teleop/autonomy scenarios. - Established Jetson-powered autonomy groundwork and base robot framework, laying the foundation for perception/planning integrations and improved cross-team collaboration. Technologies/skills demonstrated: - Embedded C++ design, real-time control loops, and subsystem coordination. - PID tuning, sensor integration (IMU/BNO055), and heat management considerations. - Jetson integration groundwork, repository hygiene, and build-system troubleshooting. Top achievements: - Turret/OmniWheel/Chassis control evolution with integrated subsystems and checkpoints. - ShooterSubsystem implementation with IMU integration (BNO055). - Jetson integration checkpoint and base loop groundwork. - Build stabilization enabling reliable development iterations.
December 2025
26 Commits • 14 Features
Dec 1, 2025December 2025: Delivered architectural modernization and core capabilities for the Triton-Robotics TR-mbed repository, driving reliability, scalability, and faster feature delivery. Implemented Jetson class integration with successful builds, established global state/constants, and introduced a robust subsystem/header architecture to improve maintainability. Completed end-to-end motor and IO capabilities (DJI Motor Control Integration, StmIO integration) and expanded drive capabilities with the OmniWheelSubsystem, while strengthening system-wide correctness through mutexing refactor and a major Referee system overhaul. Documented progress with README updates and introduced unit conversion utilities, setting the stage for multiturn planning and interrobot UI work.
26 Commits • 14 Features
Dec 1, 2025December 2025: Delivered architectural modernization and core capabilities for the Triton-Robotics TR-mbed repository, driving reliability, scalability, and faster feature delivery. Implemented Jetson class integration with successful builds, established global state/constants, and introduced a robust subsystem/header architecture to improve maintainability. Completed end-to-end motor and IO capabilities (DJI Motor Control Integration, StmIO integration) and expanded drive capabilities with the OmniWheelSubsystem, while strengthening system-wide correctness through mutexing refactor and a major Referee system overhaul. Documented progress with README updates and introduced unit conversion utilities, setting the stage for multiturn planning and interrobot UI work.
December 2025
November 2025
11 Commits • 5 Features
Nov 1, 2025Concise monthly summary for 2025-11 highlighting delivered features, major fixes, impact, and technical proficiency across the Triton-Robotics/TR-mbed project. Focused on business value, safety, and maintainability with modular architectures and performance improvements.
November 2025
11 Commits • 5 Features
Nov 1, 2025Concise monthly summary for 2025-11 highlighting delivered features, major fixes, impact, and technical proficiency across the Triton-Robotics/TR-mbed project. Focused on business value, safety, and maintainability with modular architectures and performance improvements.
October 2025
7 Commits • 4 Features
Oct 1, 2025October 2025 – Triton-Robotics/TR-mbed: Implemented precision yaw control improvements for Infantry, introduced cascaded PID for DJIMotor with chassis RPM, enhanced deployment tooling with JLink scripts and cross-platform Makefiles, and expanded debugging/docs with Ozone debugger guide. These initiatives improve control accuracy, robustness against external disturbances, streamline deployment, and shorten troubleshooting time, enabling safer autonomous operations and faster iteration.
7 Commits • 4 Features
Oct 1, 2025October 2025 – Triton-Robotics/TR-mbed: Implemented precision yaw control improvements for Infantry, introduced cascaded PID for DJIMotor with chassis RPM, enhanced deployment tooling with JLink scripts and cross-platform Makefiles, and expanded debugging/docs with Ozone debugger guide. These initiatives improve control accuracy, robustness against external disturbances, streamline deployment, and shorten troubleshooting time, enabling safer autonomous operations and faster iteration.
October 2025
June 2025
7 Commits • 4 Features
Jun 1, 2025June 2025 monthly summary for Triton-Robotics/TR-mbed. Delivered a cohesive set of features and stability improvements across jetson integration, computer vision communication, autonomous navigation, and thermal management. Key outcomes include robust Jetson data handling, streamlined CV data paths, waypoint-based navigation with refined odometry, and extended sustained firing through heat management optimization.
June 2025
7 Commits • 4 Features
Jun 1, 2025June 2025 monthly summary for Triton-Robotics/TR-mbed. Delivered a cohesive set of features and stability improvements across jetson integration, computer vision communication, autonomous navigation, and thermal management. Key outcomes include robust Jetson data handling, streamlined CV data paths, waypoint-based navigation with refined odometry, and extended sustained firing through heat management optimization.
April 2025
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for Triton-Robotics/TR-mbed: Delivered key motion control improvements enabling precise autonomous operation. Major deliverables include odometry enhancements, PID tuning across multiple motors, and the integration of automated autonomous sequences with a testbench and beyblading mode. No standalone bug fixes were recorded; bug resolution efforts were encompassed in the feature work to improve stability and movement precision. The work provides a solid foundation for reliable autonomous movement and repeatable test runs, enabling faster iteration and higher quality motion control.
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for Triton-Robotics/TR-mbed: Delivered key motion control improvements enabling precise autonomous operation. Major deliverables include odometry enhancements, PID tuning across multiple motors, and the integration of automated autonomous sequences with a testbench and beyblading mode. No standalone bug fixes were recorded; bug resolution efforts were encompassed in the feature work to improve stability and movement precision. The work provides a solid foundation for reliable autonomous movement and repeatable test runs, enabling faster iteration and higher quality motion control.
April 2025
Activity
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Quality Metrics
Correctness83.4%
Maintainability82.2%
Architecture80.8%
Performance78.4%
AI Usage23.6%
Skills & Technologies
Programming Languages
C++JLink ScriptMakefileMarkdownNone
Technical Skills
Autonomous NavigationBuild SystemsC++C++ developmentC++ programmingCAN bus communicationCMakeComputer Vision IntegrationControl SystemsCross-Platform DevelopmentDebuggingDeploymentDocumentationEmbedded SystemsFirmware Development
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