Skip to content

Latest commit

 

History

History

src

Folders and files

NameName
Last commit message
Last commit date

parent directory

..
js
js
 
 
.gitignore
.gitignore
 
 
Makefile
Makefile
 
 
README.md
README.md
 
 
behavior.cpp
behavior.cpp
 
 
behavior.h
behavior.h
 
 
bt.cpp
bt.cpp
 
 
bt.h
bt.h
 
 
build-targets.mk
build-targets.mk
 
 
buzzer.cpp
buzzer.cpp
 
 
buzzer.h
buzzer.h
 
 
config.h
config.h
 
 
cubic.cpp
cubic.cpp
 
 
cubic.h
cubic.h
 
 
distance.cpp
distance.cpp
 
 
distance.h
distance.h
 
 
imu.cpp
imu.cpp
 
 
imu.h
imu.h
 
 
kinematic.cpp
kinematic.cpp
 
 
kinematic.h
kinematic.h
 
 
leds.cpp
leds.cpp
 
 
leds.h
leds.h
 
 
main.cpp
main.cpp
 
 
mapping.cpp
mapping.cpp
 
 
mapping.h
mapping.h
 
 
motion.cpp
motion.cpp
 
 
motion.h
motion.h
 
 
motors.cpp
motors.cpp
 
 
motors.h
motors.h
 
 
prepare.sh
prepare.sh
 
 
rhock-functions.cpp
rhock-functions.cpp
 
 
rhock-functions.h
rhock-functions.h
 
 
rhock-stream.cpp
rhock-stream.cpp
 
 
rhock-stream.h
rhock-stream.h
 
 
voltage.cpp
voltage.cpp
 
 
voltage.h
voltage.h
 
 

README.md

Firmware source

Building, developing & hacking the firmware

See the firmware source

You should install the arm cross-compilation toolchain:

sudo apt-get install libstdc++-arm-none-eabi-newlib gcc-arm-none-eabi libnewlib-arm-none-eabi binutils-arm-none-eabi

The firmware source is in the src/ directory. To build it, you'll first have to run the prepare script to get the Maple framework:

./prepare.sh

Then, run make:

make

You can use make install to send directly the firmware on the robot:

make install

Creating behaviors

We already designed a simple architecture with few examples that can be found in the firmware in order to create behaviors for the robot.

First, edit behavior.h and change the BEHAVIOR_ENABLE constant to 1. Then, edit behavior.cpp, you can read the examples functions and uncomment the one(s) you like in the behavior_tick method.

This will be executed when the robot is started (i.e when the start command is sent and after the motors are enabled). Feel free to edit this to create your own, custom behavior.