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Low Level code of the PAMIsérable team for the CDR 2024

This is what is actually running on all the picos.

What's inside ?

  • bg/ The PlatformIO project for the B-G431B-ESC1 using SimpleFOC.
  • src/asserv The Pico SDK code for the Pico controlling the motors.
  • src/action The Pico SDK code for the Pico controlling the actuators & the PAMIGAMI.
  • src/dynamixel_sdk The Dynamixel SDK with a Pico SDK Port Handler implemented.
  • src/shared Code shared across the motors and acuators controllers.
  • include/ Headers arranged in the same fashion as the src/ folder
  • pio/ Code for the PIOs in the Picos.

What does it compile into ?

  • In the bg/ PlatformIO project, there are 2 enviroments:

    • left for the left BG.
    • right for the right BG.

  • In the Pico SDK cmake project, there are 4 executables compiled:

    • main_asserv for the main robot's motor controller pico.
    • main_action for the main robot's actuators controller pico.
    • paminable for the PAMInable pico.
    • pamiserable for the PAMIsérable pico.
    • pamigami for the PAMIGAMI pico, full LL, no HL, done in a night, quite bad.

How do you compile it ?

  • For the bg/ PlatformIO project:

    • You might want to tweak sensor calibration values inside bg/src/main.cpp before using it.
    • You can either install the PlatformIO IDE and use it to build
    • Or build it using the command line with PlatformIO Core:
      • To do so, install PlatformIO Core.
      • Then inside bg/, run pio run to compile both enviroments.
      • Use pio run -e left -t upload to upload the left bg code.
      • Use pio run -e right -t upload to upload the right bg code.

  • For the Pico SDK cmake project

    • Install the Pico SDK, make sure PICO_SDK_PATH is set
    •   mkdir build
  cd build
  cmake ..
  make
    • You will find the executables listed previously in the build/ folder