https://github.com/brean/microros_firmware_huginn
Firmware MicroROS for RaspberryPi Pico 2 for a small robot.
https://github.com/brean/microros_firmware_huginn
Last synced: 2 months ago
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Firmware MicroROS for RaspberryPi Pico 2 for a small robot.
- Host: GitHub
- URL: https://github.com/brean/microros_firmware_huginn
- Owner: brean
- License: bsd-3-clause
- Created: 2025-06-26T19:54:20.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2025-07-07T15:03:30.000Z (3 months ago)
- Last Synced: 2025-07-07T15:30:54.752Z (3 months ago)
- Language: C
- Size: 27.3 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# MicroROS firmware for huginn
MicroROS Firmware based on FreeRTOS for RaspberryPi Pico 2 for a small robot.
Based on the [MicroROS Raspberrypi Pico SDK](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk)
## Features
- control ackermann steering of servo with PWM
- control brushless ESP for motor with PPM (and configure it)
## Usage
Build the devContainer as asked by Visual Studio Code when opening this project.
Inside the devContainer you can open a terminal and build the project:
```bash
# Run this on a terminal inside the devContainer
cd /ws/micro_ros_raspberrypi_pico_sdk
mkdir build
cd build
cmake -DPICO_BOARD=pico2 ..
make
```
Note that we overwrite the `CMakeLists.txt` and `main.c` files in the micro_ros_raspberrypi_pico_sdk folder and have our own files in the src-subfolder.
You might want to fork the whole [MicroROS Raspberrypi Pico SDK](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk) for a more complex setup.
## About the name
Named after one of Odin's All-seeing Ravens Huginn (which translates to thought), as this little robot is just the cheapest way to implement a prototype.