Detect, Dock, Drive
- To enable SPI2, go into the buckler module and add the following lines to
software/boards/buckler_revC/app_config.h:
#define NRFX_SPIM2_ENABLED 1
#define NRFX_SPI2_ENABLED 1
#define SPI2_ENABLED 1
make flash_0will flash the "primary" robot, andmake flash_1will flash the "secondary" robot.make ble_serverwill launch a REPL to control the two robots.
The following commands are available:
- REPL controls
quitquits the REPLreconnectattempts to reconnect a dropped BLE connection
- Synchronization
nosyncdisables the synchronization protocol for commandssyncreenables the synchronization protocolsetdelay <ms>toggles the scheduling delay on synchronization
- Forcing FSM state changes
gomoves the robots from OFF to SPINstopmoves both robots back to the OFF state and stops their motorsdmoves both robots to DOCKED, where they become receptive to more commands
- Commands when docked
on/offtoggle LED2 on both boardszsets the motor speeds to 0, stopping both robotsl,r,f,bturn the robots left, right, and moves them forward and backward, respectively