This repository contains the code written when developing a robotic solution for performing bloodsample transport at AAUH using a MiR mobile platform
ArduinomergedNew contains the software for both the Arduino Mega 2560, and the code for the ESP32 wroom WiFi-module
GY91 folder contains a library we made for using the IMU GY91 to perform floor determination
qt5000 is the GUI
simple_navigation_goals.cpp is our main code for controlling the robotic solution.