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Robo-AR Embedded Systems Code

Code Structure

The code here is structured as an FSM. There are five main files, each of which handle its own part of the FSM.

  • main.c: Handles all control loop logic, as well as some setup.
  • helpers.c : Is an aggregation of external libraries and utility functions. All constants and sensor related variables are stored here.
  • inputs.c: Defines structs and functions for getting and oeprating on inputs to the FSM. Is responsible for aggregating data across sensors.
  • outputs.c: Defines structs and functions for the outputs of the FSM. Is responsible for actually sending outputs to sensors.
  • states.c: Stores all of the logic involved in updating state for the FSM and determining ouputs givne the inputs.

How To Run

To run this code, you need to run

make flash

Which will flash the code to the robot.

For compilation, simply running:

make

Is good enough.

For debugging, writing print statements and running:

make rtt

will allow you to view print statements directly to the computer. Note the robot has to be plugged in for this to work.

Testing

We have also included a Python script robot_control.py that can be used to send waypoints to the Romi. Before running this script, make sure that your computer has BLE capability and that you have the Bluepy python package installed. To use the script, turn on your Romi and run

sudo ./robot_control.py

You should be prompted for a target distance and angle to supply to your Romi, which it should obediently follow.