This repository contains software and CAD files for the 2023 version of the Middlesex University robot platform used for CS and outreach.
This version supports the following variants:
-
CS Mirto using Teensy 3.2 board and Raspberry Pi
- Teensy drives robot hardware
- Pi supports robot logic in high level language (python, racket etc)
- Communication between teensy and Pi using ASIP protocol (see ASIP 1.2 repo)
- two legacy PCBs are supported:
- Mirto2016 board that uses Toshiba TB6612FNG H-Bridge
- Mirto2018 board using TI DRV8833 H-Bridge
-
CS Mirto using Pico 2040 and Raspbery Pi
- similar to above but using Pico instead of Teensy
-
Outreach Mirto using Pico WiFI
- Uses same Pico PCB as CS pico but without Raspberry pi
- ASIP protocol over WiFI connects to Scratch or similar
-
Outreach Mirto using Arduino Wifi R2
- Uses custom shield for H-Bridge and other robot hardware support
- ASIP protocol over WiFI connects to Scratch or similar
-
Standalone Mirto
- This comprises any of the above without the Raspberry PI
- Robot logic onboard in C++ or micropython depending on microcontroller
See the ASIP 1.2 repository for code needed for the CS version
A research paper providing context for use of this robot at Middlesex University can be found here https://eprints.mdx.ac.uk/24368/