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DDD

Detect, Dock, Drive

Building

  1. 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
  1. make flash_0 will flash the "primary" robot, and make flash_1 will flash the "secondary" robot.
  2. make ble_server will launch a REPL to control the two robots.

BLE REPL Controls

The following commands are available:

  • REPL controls
    • quit quits the REPL
    • reconnect attempts to reconnect a dropped BLE connection
  • Synchronization
    • nosync disables the synchronization protocol for commands
    • sync reenables the synchronization protocol
    • setdelay <ms> toggles the scheduling delay on synchronization
  • Forcing FSM state changes
    • go moves the robots from OFF to SPIN
    • stop moves both robots back to the OFF state and stops their motors
    • d moves both robots to DOCKED, where they become receptive to more commands
  • Commands when docked
    • on/off toggle LED2 on both boards
    • z sets the motor speeds to 0, stopping both robots
    • l, r, f, b turn the robots left, right, and moves them forward and backward, respectively

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Semester project for EECS 149

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