2018's Very Small Size Robot Firmware

This firmware consists of 3 distinct codes being run on the Robot and the radio Station.

• Master: Is the main firmware that controls the robot.
• Odometry: Communicates with the Master controller sending Mouse and IMU data.
• Station: Communicates with the computer and sends packets to the robots.

Parts of the Master puzzle

• attitude: Adds a thread to read the data comming from odometry every 1ms, this data is composed by:
  • dx movement in x given by the optical sensor using 400 DPI resolution,
  • dy movement in y given by the optical sensor using 400 DPI resolution,
  • theta angle in degrees from -180 to 180,
  • inclinated whether the robot is inclinated or not,
  • onFloorwhether the robot is on the ground or not.
• commander: Adds a thread to Handle data received via radio communication whenever possible or serial communication every 50 ms, after receiving values passes them to the controller.
• controller: Adds a thread that generates speed values from sensor readings and also controls the robots motor power through two PIDs one on theta speed and other on linear speed.
• motors: Initiates the pinMODEs,and has functions to set power and direction of the motors.
• OdometryPacket: Has functions to make and read odometry's communication packages, used on the attitude thread code.
• pid: Implements the PID controler.
• robot: Innitializes the robot state, data holders and features, like beeps, alarms, ids.
• system: Initializes robot's system, checking battery level, LEDs, for better user experience.

Contributors

• Ivan Seidel
• João Pedro
• Samilla Macedo
• César Seiji