The project integrates an STM32 microcontroller for control and motion and an ESP32 for sensor fusion, communication, and high-level decision-making.

You can create a release to package software, along with release notes and links to binary files, for other people to use. Learn more about releases in our docs.

A pocket-size ultrasonic bladder-volume sensor has been constructed and tested with successful results. This paper describes the sensor and presents results from its use on healthy volunteers.