A robot with stepper motors, driven from FPGA controller

It 's my first step to build a robot, controlled from Android phone.

Robot alone, uses stepper motors in microstep mode.

The movement of robot can be controlled from Android-app in two modes: Sensor mode (first video) or manual mode (with sliders, second video)

Android application  transfers the velocity commands on Bluetooth (self made, you can load from Google Play, source on Github: https://github.com/JanDebiec/Arobot_android/tree/develop).

Robot's Intelligence: it's a Altera evaluation board, with C4 FPGA (https://www.terasic.com.tw/cgi-bin/page/archive.pl?CategoryNo=139&No=593)

FPGA Controller was written in VHDL (source on Github: https://github.com/JanDebiec/Arobot_fpga)

Links to Youtube videos:

https://www.youtube.com/watch?v=e7yvlPLXhfI

and

https://www.youtube.com/watch?v=pzsFKrqKox8

My plan is to change the interface from Bluetooth custom commands to ROS topics.

Then the following work must be done:

Android app will be based on rosjava,

and robot will have the Rapsberry-pi with Wifi as the controller for ROS software. Raspberry-pi will transfer the commands to FPGA on SPI interface

I‘ll appriciate any sugestions, ideas or cooperation.

You can visit my page: https://www.jandrotek.de/