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Two important components to solve this task for robust operation
1. Odometry algorithm using data from sensors. For example, using camera, lidar and/or mmwave radar sensor.
2. Path following with collision avoidance, very similar to algorithms used in top-down 2d games.
Then you move you robot...
There are many approaches to this problem.
Possible quick fix: you need to enable interrupts for some peripherals to make them work under HAL libraries (you can find interrupt checkbox in pinout editor/spi parameters). I do not remember if this the case for SPI though.
See if there anything on...
Probably you miscalculated something. Using QucsStudio "Transmission Line Calculator" 50 ohm 360 degree angle line length is 5.19mm, width is 1.23mm (on a 0.5mm er=3.38 substrate)
Using formulas lambda=C/(f*sqrt(er)):
lambda=299792458/((27*10^9)*Sqrt(3.38))*1000 'mm
lambda = 6.039467...
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