![]() BlizzardBot shares a lot of code with ChairBot. BlizzardBot has never been a ROS robot because it is too small to carry a laptop and Kinect. Just include a serial port communications routine to report odometry upon request and accept velocity commands in the measurement units native to ROS. Now is a good time in the development cycle to define goals for the upgrade.īlizzardBot already is. His technique will find it's way into my upgraded code. Imitation is the sincerest form of flattery. Michael Shimniok's Data Bus robot solved the GPS/IMU who's in control question years ago. I was somewhat stuck on how to blend the GPS and IMU data. Pre-written libraries for incremental encoder reading, PID control, H-bridge drivers, lcd display drivers. No surprise, it looks a lot like Arduino code. I spent some time browsing the example code. While the upgrade won't be at the top of my todo list, I will document my progress here as it happens. 24volt motor power, seperate battery voltage regulator for microprocessor and encoders.32bit STM32 microcontroller programmed in C.2 line lcd display and menu select buttons.Too much interference from the motors magnetic field.) (The compass was abandoned after much effort. Hardware quadrature decoding for the encoders on the STM32.Pittman motors with 2000 count per motor revolution encoders.I am hoping that the programming environment works as well as my initial test drive would suggest.īlizzardBot is fairly full up for a basic robot. I've had good experiences with the STM32 Discovery boards, but the free toolchains are somewhat difficult to set up. Those are some enticing specs for robot builders. Mass storage (USB Disk drive) for drag'n'drop programming.Virtual Com port to send back traces to the PC.Debug and programming port, to use STM32 Nucleo wth standard toolchains/debuggers/programmers.On-board ST-LINK/V2.1 interfacing with the PC, with three different communication channels via USB.Flexible board power supply: USB VBUS or external source (3.5 V, 5 V, 7 V - 12 V).STMicroelectronics Morpho extension pin headers for full access to all STM32F411RET6 I/Os.Up to 3x I2C, 3x USARTs, 5x SPIs, SDIO, 5x I2S.One high-performance STM32F411RET6 microcontroller with LQFP64 package.The 24MHz STM32Discovery board now in use is getting the boot to be replaced with a ST Nucleo F411RE.Īn added bonus is the access to the development environment. For ten dollars and change from Mouser, I can't resist.
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