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  1. Open project by selecting the root CMakeLists.txt in your desired IDE. CLion will automatically run the configure step.

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  1. Edit your targets by navigating to Run > Edit Configurations.... Remove unneeded targets by selecting multiple at a time:

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  1. Add a new OpenOCD configuration:

img.png

  1. Configure the desired target as shown:

    1. Note that this process will have to be repeated a few times for each robot target

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  1. Ensure the desired robot is selected in your IDE:

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  1. Build and run using your IDE. Ensure board is connected before running.

    Expected output is similar to the following:

...
** Programming Started **
Info : device id = 0x10006421
Info : flash size = 512 kbytes
** Programming Finished **
...
shutdown command invoked
  1. Install the following plugin to view serial output:

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  1. Navigate to Tools > Serial Port Monitor > Settings and select the correct serial port and baud rate:

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  1. Open the serial port monitor by navigating to Tools > Serial Port Monitor > /dev/ttyACM0 and observe the output.
    1. You may have to disable the "Hex View" option for cleaner output:

img.png