Hello, I'm Thenul de Mel

// ESP32 FreeRTOS Task structure for Sensor Reading & IoT Upload
#include <Arduino.h>
#include <WiFi.h>
#include "DHTesp.h"

TaskHandle_t SensorTaskHandle = NULL;
QueueHandle_t SensorQueue;

void readSensorTask(void *pvParameters) {
  DHTesp dht;
  dht.setup(23, DHTesp::DHT22);
  for(;;) {
    float temp = dht.getTemperature();
    float hum = dht.getHumidity();
    
    // Package data and push to synchronization queue
    xQueueSend(SensorQueue, &temp, portMAX_DELAY);
    
    // Block for 2 seconds (preemptive scheduler releases core CPU)
    vTaskDelay(pdMS_TO_TICKS(2000));
  }
}

// PID Control Algorithm for Line-Following Differential Drive
float Kp = 1.2, Ki = 0.05, Kd = 0.5;
float error = 0, lastError = 0, integral = 0, derivative = 0;
int targetPosition = 0; // Ideal center position
int baseSpeed = 150;    // Standard cruise PWM

void calculatePID() {
  int position = readIRArray(); // Returns -500 to 500 deflection
  error = targetPosition - position;
  
  integral += error;
  derivative = error - lastError;
  
  float correction = (Kp * error) + (Ki * integral) + (Kd * derivative);
  lastError = error;
  
  // Modulate asymmetrical speeds to H-bridge drivers
  adjustMotors(baseSpeed + correction, baseSpeed - correction);
}

% MATLAB script to design FIR Lowpass Filter for Audio Noise Cancellation
Fs = 44100;           % Sampling Frequency (Hz)
Fc = 3000;            % Cutoff Frequency (Hz)
N = 64;               % Filter Order

% Calculate Normalized Cutoff Frequency
Wc = Fc / (Fs / 2);

% Generate FIR filter coefficients using Hamming window
h = fir1(N, Wc, 'low', hamming(N+1));

% Apply filter to noisy input signal via convolution
filteredAudio = filter(h, 1, noisyInputSignal);

% Plot original vs filtered signals in frequency domain
freqz(h, 1, 512, Fs);