Project introduction
An indoor last-mile delivery robot built on STM32 (mixed LL/HAL) and Raspberry Pi, using BNO080 IMU and encoder-based localization, with elevator integration for multi-floor delivery.
Team Project — STM32 Firmware. In progress.
Problem
Indoor last-mile delivery becomes a systems problem when a robot must operate across floors.
Requirements
Embedded control, IMU and encoder-based localization, and elevator integration for multi-floor delivery.
Architecture
The published stack combines STM32 firmware using LL/HAL and a Raspberry Pi, with a BNO080 IMU and encoders for localization.
Hardware / software stack
STM32 · Raspberry Pi · BNO080 IMU · Robotics · nucode
Implementation
My documented contribution is STM32 firmware within a team project. The work is in progress, and the team’s GitHub organization is linked below.
Technical challenges
Coordinating embedded sensing and motion with building-level delivery infrastructure is central to the project scope.
Testing
No quantitative localization, delivery-success, or endurance measurements are included in the existing portfolio.
Results
In progress. The public record documents the system stack and firmware contribution, rather than a validated deployment outcome.
Lessons learned
A robot’s behavior depends on the interfaces between firmware, sensing, and its operating environment.
Project resources
Content follows the existing portfolio. Explore the original resources for further details.