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Purdue Robomaster Mecanum Standard Robot 2022-2023 Source Code

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CuboiLeo/RoboMaster_Mecanum_Standard

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Maintenance Maintainer MIT license

Purdue Robomaster Mecanum Standard 2022

  • Written using STM32 HAL Library and CubeMX.
  • Main Control Board: DJI Robomaster Board A(STM32F427IIH6)

Basic Components Include:

  • 4 * M3508 Motors for Chassis
  • 2 * M3508 Motors for Friction Wheels
  • 2 * GM6020 Motors for Gimbal (Yaw & Pitch)
  • 1 * M2006 Motor for Trigger
  • 1 * Super Capacitor for Temporary Power Overload

Current Function & Future Improvements

  • Communications

    • DR16 Remote Control
    • Board A IMU
    • MPU6050 IMU
    • Motors
    • Super Capacitor
    • Referee System
  • Basic Controls

    • Chassis (Forward/Backward, Leftward/Rightward, Rotate)
    • Gimbal (Yaw, Pitch)
    • Shooting (Friction Wheel On/Off, Single Shot, Burst)
  • Advance Controls

    • Follow Gimbal Mode (Chassis Follow Gimbal)
    • Not Follow Gimbal Mode (Chassis Not Follow Gimbal)
    • SpinTop Mode (Gimbal Holds in Position while Chassis Spins)
    • Power Limiting (Requires Referee System Communication)
    • Shooter Heat Regulation (Requires Referee System Communication)
    • Level Up Adjustments (Requires Referee System Communication)

System Flow Chart

graph TD;
    BoilerBot_Infantry_2022-->Interrupt_Timer;
    Interrupt_Timer--USART1-->DR16_Remote_Control;
    Interrupt_Timer--USART6-->Referee_System;
    BoilerBot_Infantry_2022-->FreeRTOS;
    FreeRTOS-->General_Initialization;
    FreeRTOS-->IMU_Communication_&_Calculation;
    IMU_Communication_&_Calculation--SPI5-->MPU6500;
    IMU_Communication_&_Calculation--I2C-->MPU6050;
    FreeRTOS-->CAN_Send_Message;
    CAN_Send_Message-->Send_to_All;
    FreeRTOS-->CAN1_Receive_Message;
    CAN1_Receive_Message-->M2006_Trigger_Motor;
    CAN1_Receive_Message-->Super_Capacitor;
    CAN1_Receive_Message-->4*M3508_Chassis_Motors;
    CAN1_Receive_Message-->GM6020_Yaw_Motor;
    FreeRTOS-->CAN2_Receive_Message;
    CAN2_Receive_Message-->2*M3508_Friction_Wheel_Motors;
    CAN2_Receive_Message-->GM6020_Pitch_Motor;
    FreeRTOS-->Robot_Control;
    Robot_Control-->State_Machine;
    Robot_Control-->Chassis_Control;
    Robot_Control-->Gimbal_Control;
    Robot_Control-->Shooting_Control;
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