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NKTg Ground Vehicle
A real-time robot vehicle controlled entirely by NKTg (mass-kinetic energy function) — physical sensors feed actual x, v, m, dm/dt data into the NKTg engine running at 100 Hz on an ESP32, which issues motor commands in real time.

What This Is
This is a hardware implementation of NKTg control theory — not a simulation, not a demo. The vehicle collects live sensor data, computes NKTg_1 and NKTg_2 on-chip, and drives motors accordingly — all without a host computer once flashed.

Physical sensors → NKTg Engine → Motor control → Web monitor
(100 Hz) (100 Hz) (100 Hz) (20 Hz)

Features

Hardware Component Est. Price ESP32 DevKit V1 ~$6 IMU MPU6050 ~$2 600 PPR Encoder x 2 ~$3 each 5 kg Load Cell + HX711 module ~$5 BTS7960 Motor Driver ~$6 12V DC Gear Motor x 2 + rubber wheels ~$6 per set 3S 11.1V 3000 mAh Li-ion battery ~$10 2WD / 4WD aluminum or acrylic chassis ~$6-$12 Total ~$50-$60 USD Full bill of materials: hardware/BOM.md
Quick Start 1. Clone git clone https://github.com/your-username/nktg-ground-vehicle.git cd nktg-ground-vehicle 2. Flash firmware Open firmware/NKTg_ESP32_Controller/NKTg_ESP32_Controller.ino in Arduino IDE Install libraries: MPU6050 by Electronic Cats, HX711 by Bogdan Necula Board: ESP32 Dev Module — Upload speed 921600 Upload, then open Serial Monitor at 115200 baud 3. Open the dashboard Open web/NKTg_System.html in Chrome or Edge Connect via Web Serial, select the ESP32 COM port Watch NKTg_1 and NKTg_2 plotted in real time 4. Assemble hardware See: build/build_guide.mdNKTg Control Logic Function Formula Physical meaning NKTg_1 x · (m · v) Position energy — detects trajectory instability NKTg_2 (dm/dt) · (m · v) Mass-change energy — detects sudden load loss Default thresholds (tunable in Config.h): Condition Action NKTg_1 > 500 Emergency brake (PWM = 0) NKTg_2 < -50 Reduce speed 50% Otherwise Normal operation
Repository Layout nktg-ground-vehicle/ ├── README.md ├── build/build_guide.md # Step-by-step assembly guide ├── firmware/NKTg_ESP32_Controller/ # ESP32 firmware │ ├── NKTg_ESP32_Controller.ino │ ├── NKTg_Engine.h # Core NKTg math │ ├── Sensors.h # MPU6050 + HX711 + Encoder │ ├── MotorControl.h # BTS7960 driver │ └── Config.h # All tunable constants ├── hardware/ # BOM and wiring diagram ├── web/NKTg_System.html # Real-time dashboard (Web Serial) ├── system/ # Architecture and data flow docs ├── validation/real_test.md # Real hardware test results └── NEXT_APPLICATIONS.md Operating Layers Layer Rate Task 1 — Sensing 100 Hz Encoder + Load Cell + MPU6050 2 — NKTg compute 100 Hz computeNKTg() on-chip 3 — Motor control 100 Hz PWM to BTS7960 4 — Web monitor 20 Hz Serial to NKTg_System.html
🚀 Want to Go Deeper? Get the Book This repository implements one application of NKTg. The full theory, 11 programming languages, ESA-validated data, and dozens more applications are in the book. PROGRAMMING COSMIC DYNAMICS Physics isn't broken. It's just never been programmed. For 300 years, inertia was treated as a constant. What if it isn't? What if motion can be computed — not just described? Introducing the NKTg Law by Nguyen Khanh Tung: NKTg = f(x, v, m) NKTg_1 = x * p NKTg_2 = (dm/dt) * p A physical law encoded into executable code. Not a theory. A system. A programmable physical law that executes, not approximates. Built across 11 programming languages Tested with real data from the European Space Agency Error margin: 0.208% What this unlocks: AI that reacts like physical systems Autonomous vehicles with real-time physics engines Space navigation beyond classical models Simulation that doesn't approximate — it executes From Python to Assembly. From AI to Quantum Computing. One law. One engine. Infinite applications.
Get the Book Leanpub English: https://leanpub.com/NKTgLaw Vietnamese: https://leanpub.com/NKTgLaw-vi Bundle (English + Vietnamese): https://leanpub.com/b/NKTgLaw-global Google Play Books English: https://play.google.com/store/books/details?id=CNLKEQAAQBAJ&pli Vietnamese: https://play.google.com/store/books/details?id=buDMEQAAQBAJ Series (English + Vietnamese): https://play.google.com/store/books/series?id=Fa6gHAAAABC0sM
Amazon English: https://www.amazon.com/dp/B0GTSBBRYR Traditional Chinese: https://www.amazon.com/dp/B0GHZMSKYB Bundle (English + Traditional Chinese): https://www.amazon.com/dp/B0D6579Q3G Payhip English: https://payhip.com/b/fU8Xr Vietnamese: https://payhip.com/b/aU9Ex Bundle (English + Vietnamese): https://payhip.com/b/a5l9k Storefront: https://payhip.com/NKTgLaw Gumroad English: https://nktglaw.gumroad.com/l/NKTgLaw Vietnamese: https://nktglaw.gumroad.com/l/NKTgLaw-vi Bundle (English + Vietnamese): https://nktglaw.gumroad.com/l/NKTgLaw-global This is the shift. Not better formulas. Not faster simulations. A new way to build reality in code. License Open source: LICENSE Commercial use: LICENSE-commercial For commercial licensing inquiries: traiphieu.com@gmail.com
🌐 NKTg Autonomous Vehicle Ecosystem: Physics & Distributed Control This repository hosts an autonomous vehicle project powered by the ESP32, governed by the principles of the NKTg Law. The system integrates specialized sensors and a web-based dashboard for real-time data monitoring and telemetry. This project is globally verifiable and accessible. Through this distributed presence, the system operates not merely as software, but as a persistent and autonomous computational physics framework—capable of existing, executing, and being validated independently of centralized control. 🔗 Distributed Repository Presence # Platform Official Repository Link 1 GitLab gitlab.com/NKTg-Variable-Inertia/programming-cosmic-dynamics-real-time-control 2 GitHub github.com/NKTg-Variable-Inertia/programming-cosmic-dynamics-control-system 3 Gitea gitea.com/NKTg-Variable-Inertia/programming-cosmic-dynamics-embedded-systems 4 Codeberg codeberg.org/NKTg-Variable-Inertia/programming-cosmic-dynamics-vehicle-system 5 Bitbucket bitbucket.org/nktg-variable-inertia/programming-cosmic-dynamics-motion-control/src/main/ 6 Launchpad launchpad.net/programming-cosmic-dynamics-dynamic-systems 7 SourceForge sourceforge.net/projects/cosmic-dynamics-system/ 8 SourceHut git.sr.ht/~nktg-variable-inertia/programming-cosmic-dynamics-ai-robotics 9 Rocketgit rocketgit.com/user/NKTg-Variable-Inertia/programming-cosmic-dynamics-data-simulation 10 Framagit framagit.org/NKTg-Variable-Inertia/programming-cosmic-dynamics-control-system 11 Disroot git.disroot.org/NKTg-Variable-Inertia/programming-cosmic-dynamics-control-engine
🌐 Explore the Physics Deeper To explore the physical foundations behind NKTg Law in depth, you can visit: Platform Link traiphieu.com https://traiphieu.com GitHub https://github.com/NKTgLaw/NKTgLaw GitLab https://gitlab.com/NKTgLaw/NKTgLaw Gitea https://gitea.com/NKTgLaw/NKTgLaw Codeberg https://codeberg.org/NKTgLaw/NKTgLaw Launchpad https://launchpad.net/nktglaw SourceForge https://sourceforge.net/projects/nktglaw/ Bitbucket https://bitbucket.org/nktglaw/nktglaw/src/main/ SourceHut https://git.sr.ht/~nktglaw/NKTgLaw Rocketgit https://rocketgit.com/NKTgLaw/NKTgLaw Framagit https://framagit.org/NKTgLaw/NKTgLaw Disroot https://git.disroot.org/NKTgLaw/NKTgLaw

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