KZmotion - WRO Library
Legacy
Core Motion & Control Library
Sep 2023 - Sep 2025
The Problem
WRO teams spend too much time on basic motion code instead of strategy. No standardized library for common robotics functions. Students need a reliable, tested foundation to build upon.
The Solution
Years of development condensed into a plug-and-play library with dual-sensor line following (PD controller), gyro-based control, encoder distance control, cosine-smoothed motion profiles, and calibration helpers. Open-sourced for students and the robotics community.
Key Innovation:
- •Dual-sensor line following with PD controller
- •Gyro-stabilized straight & turns
- •Cosine-smoothed ramps (jerk-limited)
- •Encoder-based distance control
- •Line events (T/X intersections, snap left/right)
- •Curved arcs, ultrasonic approach
- •Color sensor & compass calibration
Results
Open-source library for students and WRO teams, helps teams tune faster and focus on strategy
No marketing, organic growth
Tech Stack
Backend
- ├─Arduino (C++)
- ├─EV3-style programming
Infrastructure
- ├─PD Controllers
- ├─Sensor Fusion
- ├─Motion Profiles