SmartMouse2017

WPI CollabLab Smartmouse Team code for exploring and solving the maze. This project currently only supports Ubuntu Linux 16.04. Use windows and other linux versions at your own risk.

Installing dependencies

Our build system is CMake. Install it first. Install teensy_loader_cli so you can upload. https://github.com/PaulStoffregen/teensy_loader_cli

Install the arduino ide (version 1.8.1) to /opt. Next, install teensyduino. https://www.pjrc.com/teensy/td_download.html

Building Instructions (no simulation)

mkdir .build
cd .build
cmake ..
make

Uploading to the robot

After connecting the usb cable, cd .build and run the following:

teensy_loader_cli --mcu=MK66FX1M0 -w -s -v bin/main.elf.hex 

Obviously this requires teensy_loader_cli

The simulator

Installing (On ubuntu 16.04+)

go to http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install and follow the installation tutorials. You will need to install both gazebo8 and libgazebo8-dev

sudo apt-get install gazebo8 libgazebo8-dev cmake protobuf-compiler libncurses5-dev

Test by running gazebo --verbose, it should open gazebo and print out version information.

Clone this repo, which contains the gazebo models and plugins.

Building Simulation

mkdir .sim_build
cd .sim_build
cmake -DBUILD_SIM=ON ..
make

Running Simulation

Assuming you've installed gazebo correctly and built with simuation, cd to the root of the project Smartmouse_2017.

source sim/setup.sh
gazebo --verbose sim/gzmaze.world

If you see errors, fix them before moving on. Then in another terminal...

./.sim_build/sim/SimSolve

Press enter. Watch the mouse go!