Designing a custom mechanical keyboard from the ground up.

Project Overview

This project was an attempt to solve a real world problem. I wanted a mechanical keyboard with a 65% compact, in-line layout, hot-swap mechanical switches, and most importantly, backlit with RGB-W LEDs

Key Features

KEY Features

• RGBW LEDs: RGB LEDs with a dedicated W channel for white. Cool, neutral, and warm white are all considered.
• Hot-Swappable Key Switches: Easily swap the key switches for personal preference.
• Compact 80%: Compact 10-keyless design.

The Prototype

• Size: 8 Keys total in a 2x4 design
• Daisy chainable: Ability to connect numerous PCBs as one.
• Secondary Layer: Ability to connect a secondary PCB below the primary PCB to test LEDs with different key switches
• I/O: Connect to any MCU for development.

Technical Specifications

Prototype Analysis

Performance Results

,After extensive testing and PID tuning, the robot achieved:

• Line Following Accuracy: 95% on standard tracks
• Maximum Track Speed: Successfully follows lines at 80cm/s
• Curve Handling: Navigates 90° turns without losing the line
• Obstacle Response: Stops within 10cm of detected obstacles

Lessons Learned

1. PID Tuning: Start with proportional control only, then add integral and derivative terms
2. Sensor Calibration: Regular calibration is crucial for consistent performance
3. Power Management: Use voltage regulators for stable sensor readings
4. Mechanical Design: Proper wheel alignment significantly improves tracking accuracy

Future Improvements

• Machine Learning: Implement adaptive PID parameters using reinforcement learning
• Multi-Line Support: Add capability to handle intersections and multiple line paths
• Wireless Communication: Upgrade to WiFi for remote monitoring and control
• Advanced Sensors: Add color sensors for enhanced track detection

Build Instructions