Simplistic firmware for the Robotex platform mainboard.
Framerowk mbed 5.x.x version, used in current firmware, considered deprecated by framework developers. That leads, that platform ststm32@~5.x.x version (don't confuse with mbded 5.x.x) can not de installed either, because they depend on each other. Solution is to use ststm32@~15.3.0 and above, but mbded 6.x.x required. So this firmware need to be portet on mbed 6.x.x
State at 26.09.2023: No current plans for porting GEN2 version to mbded 6.x.x. GEN3 repository maintained.
The virtual serial port on the mbed USB bus is used for bidirectional communication. Approximately 100 times a second, motor speeds are given (from -100 to 100 in arbitrary units, sorry...). The format is: "motor1:motor2:motor3\n".
In the same format You can also send data to the mainboard to set the motor speeds (from -100 to 100).
Repository contains PlatformIO project. PlatformIO is a development ecosystem for embedded systems and eases working on the code a lot.
To work on this code just clone the repo and open it in the PlatformIO IDE (or build and upload it with the PlatformIO core tools from the command line). All the dependencies and build tools are installed automatically on the first build.
- Install PlatformIO CLI.
- Make sure to add the standard udev rules of platformIO and also ST-link 2.1 specific ones:
curl -fsSL https://raw.githubusercontent.com/stlink-org/stlink/develop/config/udev/rules.d/49-stlinkv2-1.rules | sudo tee /etc/udev/rules.d/49-stlinkv2-1.rules
To build and upload, in project root, do
pio run -t upload