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_0
will flash the "primary" robot, andmake flash_1
will flash the "secondary" robot.make ble_server
will launch a REPL to control the two robots.
The following commands are available:
- REPL controls
quit
quits the REPLreconnect
attempts to reconnect a dropped BLE connection
- Synchronization
nosync
disables the synchronization protocol for commandssync
reenables the synchronization protocolsetdelay <ms>
toggles the scheduling delay on synchronization
- Forcing FSM state changes
go
moves the robots from OFF to SPINstop
moves both robots back to the OFF state and stops their motorsd
moves both robots to DOCKED, where they become receptive to more commands
- Commands when docked
on
/off
toggle LED2 on both boardsz
sets the motor speeds to 0, stopping both robotsl
,r
,f
,b
turn the robots left, right, and moves them forward and backward, respectively