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