https://github.com/bloveless/ece5780_final_project

Final project for ECE5780
https://github.com/bloveless/ece5780_final_project

Last synced: 23 days ago
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Final project for ECE5780

• Host: GitHub
• URL: https://github.com/bloveless/ece5780_final_project
• Owner: bloveless
• Created: 2016-03-12T08:46:59.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2016-05-01T02:09:16.000Z (over 8 years ago)
• Last Synced: 2024-11-06T18:01:40.016Z (2 months ago)
• Language: C
• Size: 1.64 MB
• Stars: 0
• Watchers: 5
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Stair Climbing Robot

Our project is a stair climbing robot. It can detect a wall and turn around, then detect a stair, extend it's legs, climb the stair, and detect it has completed the stair retracting it's legs.

We used FreeRTOS as a scheduler and added each section of our code to a new task. Essentially this modularizes our code and allowed us to working freely and independently of each other.

Video Link:   [YouTube](https://www.youtube.com/watch?v=Zx6ETbFkieo)

Project Link: [GitHub](https://github.com/bloveless/ECE5780_Final_Project)

## Source Files

    src/

        // Standard configuration files for the project

        adc.c                           // Configure the adc pins and peripheral

        freertos.c                      // Add the required tasks to FreeRTOS

        gpio.c                          // Configure the gpio pins

        i2c.c                           // Configure the i2c pins and peripherals

        main.c                          // Call all peripheral configurations and start FreeRTOS

        stm32f3xx_hal_msp.c             // Add default interrupts

        stm32f3xx_hal_timebase_TIM.c    // Configure FreeRTOS timebase

        stm32f3xx_it.c                  // Handle all interrupts (these call back to our code)

        tim.c                           // Configure all timers, modes, prescale, and ARR

        --

        // Our tasks

        Heartbeat.c                     // Blinking light for error detection

        MPU6050.c                       // Determine the current angle of the robot

        PIDController.c                 // Drive and spin the robot

        Proximity.c                     // Detect when the robot has come close to an object

        Servo.c                         // Control the outer tracks position