https://github.com/csulb-cecs-senior-design/motors

https://github.com/csulb-cecs-senior-design/motors

Last synced: about 1 month ago
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• Host: GitHub
• URL: https://github.com/csulb-cecs-senior-design/motors
• Owner: CSULB-CECS-Senior-Design
• Created: 2023-12-05T03:46:12.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-11-04T02:22:49.000Z (about 2 months ago)
• Last Synced: 2024-11-04T03:20:13.334Z (about 2 months ago)
• Language: C
• Size: 891 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# R2-ARC Project

This repository focuses on the R2 ARC project's development, highlighting the integration of motor control, SPI communication, and IR sensors to aid autonomous navigation capabilities

## Components

- **Motors**: 2x 12V Geartisian DC Motors (20 RPM)

- **Motor Driver**: L298N

- **Sensors**: 2x Sharp IR GP2Y0A21YK0F

- **Microcontrollers**: TM4C123GH6PM (as SPI slave)

- **Single Board Computers**: Raspberry Pi (as SPI master)

## Installation

Keil uVision 5 Setup

To develop and upload the firmware for the TM4C microcontroller, follow these steps:

1. Download and Install Keil uVision 5:

Download Keil uVision 5 from Keil's official website.

Follow the installation instructions provided on the website.

2. Open the Project:

Launch Keil uVision 5.

Open the project file located in the R2-ARC repository

cd r2-arc/TM4C_Firmware

3. Compile the Project:

In Keil uVision 5, compile the project to ensure there are no errors.

4. Upload the Firmware:

Connect your TM4C microcontroller to your computer.

Use Keil uVision 5 to upload the compiled firmware to the TM4C microcontroller.

## Features

- **Motor Movement Control**: Implemented on TM4C microcontroller to handle precise movements.

- **SPI Communication**: Setup between TM4C (slave) and the main SBC (Raspberry Pi as master) to transmit motor commands and sensor data using unsigned 16-bit integers.

- **IR Sensors**: Utilized to enhance machine vision, aiding in autonomous navigation. Sensor data are transmitted to the main SBC via SPI.

## Branches

- **main**: Core codebase for the TM4C microcontroller, handling motor movements, SPI communication setup, and IR sensor integration.

- **Raspberry_Pi_Motor_Control**: Implementation of DC motor movements on the Raspberry Pi.

- **SPI_Communication_Slave_TM4C**: Branch for verifying TM4C's functionality as an SPI slave.

- **SPI_Communication_Master_TM4C**: Tests and setups for TM4C acting as an SPI master.

- **SPI_Communication_RaspberryPi_Master**: Implementation of SPI Master modules, initially in C++ and later in Python.

- **SensorTesting**: Branch dedicated to testing and calibrating IR sensors for optimized autonomous navigation.

## Contact

Contact Jesus perez for any questions at [email protected]