Ulysse Cura
7d2c17a0fd
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| Readme.md | ||
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Readme.md
Motion controler code for the RPI Pico (RP2040)
This project is the main controller firmware for the RPI Pico (RP2040), designed for the Eurobot 2025 Cup.
I2C description
The robot’s I2C communication works as follows:
- Send the device address + R/W bit (to select read or write mode).
- Send the target register address (to read from or write to).
- Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.
This code is designed to be the master in the i2c communication.
| Register | R/W | Description | Encoding |
|---|---|---|---|
| 0x00 | W | Speed motor 1 | -128 - 127 |
| 0x01 | W | Speed motor 2 | -128 - 127 |
| 0x02 | W | Speed motor 3 | -128 - 127 |
| 0x03 | W | Speed motor 4 | -128 - 127 |
| 0x04 | W | Servo 1 position selection | 0 - 1 |
| 0x05 | W | Servo 2 position selection | 0 - 1 |
| 0x06 | W | Servo 3 position selection | 0 - 1 |
| 0x07 | W | Servo 4 position selection | 0 - 1 |
Motors communication description
Motors are «connected» to their respective I2C buffer address.
To control a motor you need to write data to its adress of the form :
int8_t speed;
Value goes from -128 to 127.
Servo motors communication description
Servo motors are «connected» to their respective I2C buffer address.
To control a servo motor you need to write data to its adress of the form :
uint8_t close;
Value is 0 or 1 for the open or the close pos.
Internet communication description
The robot main_controller is a client connected to the wireless controller which is an udp server host. A buffer is used to store data received from host.
Speed on X and Y axis are not depending of the robot orientation.
Servo motors keep the same byte address in i2c buffer and udp payload.
| Byte | Description | Encoding |
|---|---|---|
| 0x00-01 | Robot angle (0x00 is the last significant byte) | -180 - 180 |
| 0x02 | Speed x axis | -128 - 127 |
| 0x03 | Speed y axis | -128 - 127 |
| 0x04 | Servo 1 position selection | 0 - 1 |
| 0x05 | Servo 2 position selection | 0 - 1 |
| 0x06 | Servo 3 position selection | 0 - 1 |
| 0x07 | Servo 4 position selection | 0 - 1 |
Pinout description
| Pin | Description | GPIO Type |
|---|---|---|
| 4 | I2C Bus SDA | I2C |
| 5 | I2C Bus SCL | I2C |
Motors placement
,-~***~-,
/1 2
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\3 4/
`-.....-'