The goal of this ECE Senior Design Project was to design, build, and pilot an autonomous robot capable of navigating a single-floor indoor setting and transporting patients. The robot is able to transport the elderly and those who live with disabilities such as Multiple Sclerosis (MS) or chronic conditions that impair mobility, and help them navigate hospital floors. With the proposed Biometric Autonomous Droid (BAD-2024) system, our design group aims to improve patient self-sufficiency while addressing and improving healthcare staff efficiency, allowing for personalized patient care management. The final design features a chair for the user and seat belt, a joystick for navigation, a 24V battery, two motors and motor controllers, a comprehensive sensor system, biometric technology, self-driving capability, and an interactive user interface. The BAD-2024 system is intended for indoor use only. Link to project website

This GitHub contains all of the repositories for the code and PCB CAD files used in the BAD.

• Make sure git is installed on your machine
  • Can check with git -v from terminal
• Make sure you have a GitHub account and have access to project repos
• Create a local folder on your computer where you want to store your local project
• Use - within local folder (can add --global before user.name / user.email) to connect to GitHub account
  • git config user.name "GitHub username"
  • git config user.email "GitHub email"
• Within local folder - git clone <repository link from github>

• You can use your IDE with Git, but here are some basic commands
• git add . - Adds all the files in the current directory to git
• git commit -m "Message" - Commits changes to git with a commit message
• git push - Pushes your changes to it
• Helpful:
  • git status can show the current state of the local repo
  • git restore <filename> will revert a file to its last pulled state
• Note: You can use git add/restore . for all files or git add/restore <filename> for a single file

• When you are working, create a new branch off of main so that your code doesn’t conflict with other people’s
• Use git branch <branch name> to create a new branch
• Helpful: Use git branch to view all branches and see which one you are on, or git status will show the current branch
• Use git switch <branch name> to switch branches
• Once you are on your branch, use your standard add, commit, and push commands to make changes
• You should almost never push directly to main, make sure you are working on a branch!

• Once you are done with your code and want to merge it into main, create a pull request to merge your branch into main.
• A pull request is made directly in GitHub and is a way to review and approve code before two branches are merged.
• Team members will review your code before approving it to merge into main.
• If you have merge conflicts, resolve them (use a GUI for this).
• Once you finish your pull request, delete your branch unless you have some reason to keep it around.

• Good practice is to always pull before you start working (pull any updates to avoid merge conflicts down the road).
• Whatever code you push is seen by everyone else along with who pushed what specific files/lines.
• PLEASE COMMENT YOUR CODE & KEEP IT CLEAN - Others will not be able to review or help debug if your code is sloppy.
• Use git restore to help resolve merge conflicts.

• git -v: Displays the version of Git installed on your machine.
• git config user.name "GitHub Username": Sets the Git username for the current repository.
• git config --global user.name "GitHub Username": Sets the Git username globally for all repositories.
• git config user.email "GitHub Email": Sets the Git email for the current repository.
• git config --global user.email "GitHub Email": Sets the Git email globally for all repositories.
• git clone <repository link from github>: Clones a repository from GitHub to your local machine.
• git add .: Adds all changes in the current directory to the staging area.
• git add <filename>: Adds a specific file to the staging area.
• git commit -m "Push Message": Commits the staged changes with a commit message.
• git push: Pushes the committed changes to the remote repository.
• git restore .: Restores all files in the current directory to their last committed state.
• git restore <filename>: Restores a specific file to its last committed state.
• git branch <branchname>: Creates a new branch with the specified name.
• git branch: Lists all branches and shows the current branch.
• git status: Displays the state of the working directory and the staging area.
• git checkout <branchname> Checks out a branch (use switch instead since it is newer).
• git switch <branchname>: Switches to the specified branch.
• git reset HEAD~1: Resets the current branch to the previous commit, keeping changes in the working directory.
• git tag: Lists all tags in the repository.
• git rebase: Reapplies commits on top of another base tip.

• We will be using git to store KiCad files as well so that we can have a running record of them.
• Put all the PCBs in a subfolder in the PCB repo.
• Make a branch for your board, and only work on that board on the corresponding branch.
• Don’t delete your branch once you merge it; keep making changes on that branch.
• Only one person should work on a board at a time, and all changes should be committed before the next person works on it.