active C++RoboticsEmbeddedSystems Design
Universal Interface Stack
A hardware-agnostic C++ control stack for robots — motors, encoders, trajectories, tools, and motion planning, all swappable without touching application code.
Robotics & Embedded Systems
Hi, I'm Vishwam Aggarwal.
I build hardware-agnostic control systems for robots — from low-level motor, encoder, and sensor drivers up through trajectory generation and motion control. This site is where I write up what I'm building and why.
Featured projects
All projects → active C++RoboticsFirmware
RC Servo 5DOF Gripper Arm
Integration firmware for a modular 5-degree-of-freedom robot arm, built entirely on top of the Universal Interface Stack.
active Web SerialRoboticsTooling
Servo Calibrator
A browser-based servo range-finder and installation/calibration wizard, using an AS5600 magnetic encoder as ground truth — no software install required.
Recent articles
All articles →Hobby Servo Motor Accuracy: The 3.8° You're Leaving on the Table
Hobby servo motors aren't as accurate as their datasheet suggests. Here's what 2,300+ measurements say about the error, and the tool I built to correct it.