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rbv1.2 implementation

version

This repo can be used as a template for developing applications on robots board v1.2 without deep diving into hardware setups.

Robots board v1.2 is a cost affective board to implement differential drive robots, for example, balancing robot. It uses stm32g071cbu MCU, DRV8848 motor driver to control two small BDC motors with encoders, ICM-20600 3-axis gyroscope and accelerometer, and NRF24l01+ as a radio module. CAD files of the board can be downloaded here.

Implementation library serves three main goals:

  1. Provides user with methods to setup all used in device peripherals: system clock, GPIO, timers, etc.
  2. Provides user with methods for self-diagnostics of the device and error handling.
  3. Provides user with basic data transmitting methods for all interfaces that are used in the design.

This repo Contains

  • implementation.h and .c files with all implementation-dependent functions;
  • device.h and .c file for user firmware development;
  • bunch of libraries needed for easier development with robots board:
    • icm-20600 implementation-independent library;
    • nrf24l01+ implementation-independent library;
    • implementation-independent library for dc motor control;
  • main.c file with all basic setups and initializations for the fast start of development.

How to use

  • clone this repo and add all files into you new robots board v1.2 project;
  • go into implementations.h file and set up all user-adjustable defines with respect to the project requirements;
  • look through all provided user functions to understand what can be used in the project;
  • look through all .h files to understand what functions are already available and how to use them;
  • start development.