STM32-Robot-Hardware-Control

This repository showcases the hardware engineering work for the MDP project at NTU. The project is designed to control the movement and turning of a robot using an STM32 microcontroller and a Raspberry Pi. The code includes a PID controller for precise turning and movement, as well as support for input from external devices like an Android tablet. The Raspberry Pi also integrates a camera to capture images and communicate with a computer vision server.

Features

• Precise control of robot movement using PID controllers
• Turning and movement commands through UART communication
• Support for different movement directions:
  • Forward
  • Backward
  • Forward Left
  • Forward Right
  • Backward Left
  • Backward Right
• Center calibration and open-loop movement support
• Gyroscope integration for accurate angle measurements
• Raspberry Pi integration for camera and ultrasonic sensor support
• Communication with an Android tablet for starting the robot and monitoring its progress

Key Functions

STM32:

• robotTurnPID(float *targetAngle, int direction): Turns the robot using a PID controller to achieve the desired angle based on gyroscope readings. The function takes a pointer to the target angle and a direction flag (0 for left, 1 for right). chassisTask(void *argument): Main control task for the robot's movement. It reads commands from a message queue, decodes the commands, and controls the motors and servos accordingly.
• HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart): UART receive complete callback function, triggered when a command is received through UART. It processes the received command and puts it into the message queue for the chassisTask function to handle. and other helper functions.

Raspberry Pi:

• capture_and_send(): Captures an image using the PiCamera and sends it to a computer vision server for processing.
• get_distance(): Measures the distance between the robot and an obstacle using an ultrasonic sensor.
• movement_task(): Main function for controlling the robot's movement based on the CV server's response and ultrasonic sensor readings.
• approach_obstacle_and_advance(target_distance, dash_distance, back_conpensate): Approaches an obstacle and advances the robot based on the provided parameters.
• Task-specific functions for different movement scenarios.
• Communication functions for sending commands to the STM32 and Android tablet.