This repository contains firmware for the robots that can be used in Micro Invader competition.
The firmware supports Wifi and Bluetooth. If WiFi is used, the motor commands can be send via simple encoded UDP messages.
The firmware works well with zero-ones-simulated simulator.
There is also another alternative firmware for the robot, ai-robot, which uses protocol buffers to serialize the data. It works well with ai-simulator.
Prepare yourself for an adventure in robotics! And remember, the real treasure in programming is not the result but the bugs we make along the way.
Connect the right motor to connector J2 and the left motor to J3.
- Make sure the firmware has been flashed
- Connect board to computer via USB
- Establish serial connection
You can connect for example using screen or the monitor command if you have the Espressif toolchain installed:
screen [port] 115200
To connect to WiFi, press any key to open the terminal and then press the w key. The terminal will prompt you for the WiFi ssid and password and then reboot the robot. After rebooting, you can use the i command to check the ip that was assigned to the robot during startup.
Once you have set up the Wi-Fi connection, you should be able to control the robot by sending UDP messages to port 3000. The message should be a string consisting of two integers between 100 and -100 separated by a semicolon. You can try it out e.g. with the following command:
echo -n '50;-50' | nc -u [robot ip] 3000
Or by modifying and running the python example
Install the Espressif toolchain: https://docs.espressif.com/projects/esp-idf/en/release-v4.1/
Build and flash the project:
idf.py build
idf.py -p [port] flash
If you have trouble flashing, you can try running menuconfig and ensure that:
- bluetooth classic is enabled and BLE is disabled
- the custom partition table partitions.csv is selected
- at least 4MB flash size is selected from
Serial flasher config > Flash size
idf.py menuconfig
To take a look at the log output or connect to the built in console, you can:
idf.py -p [port] monitor
To exit the monitor press ctrl + ] (ctrl + 5 On a Finnish keyboard)