https://github.com/itzderock/scioly-robottour-2024-cpp

Science Olympiad Robot Tour (Div C - 2024) - C++ version (attempt 3)
https://github.com/itzderock/scioly-robottour-2024-cpp

robot-tour rp2040 science-olympiad

Last synced: 2 days ago
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Science Olympiad Robot Tour (Div C - 2024) - C++ version (attempt 3)

• Host: GitHub
• URL: https://github.com/itzderock/scioly-robottour-2024-cpp
• Owner: ItzDerock
• Created: 2024-03-08T02:53:37.000Z (9 months ago)
• Default Branch: main
• Last Pushed: 2024-09-10T02:48:14.000Z (2 months ago)
• Last Synced: 2024-10-13T02:49:09.082Z (about 1 month ago)
• Topics: robot-tour, rp2040, science-olympiad
• Language: C
• Homepage:
• Size: 147 KB
• Stars: 0
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Science Olympiad - Robot Tour

C++ code for the Science Olympiad Robot Tour Divison C event. Targeted at the RP2040 microcontroller using the pico-sdk library.

## Read the [blog post](https://derock.blog/post/science-olympiad-robot-tour?ref=github) to learn more about the hardware and software. Or check out this [demo video](https://youtu.be/HW2_rhXF9W8)



  



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The plan is the following:

- User inputs a general path to follow

- Robot interpolates missing points to create a pure-pursuit path

- On button click, robot resets odometry position and follows pure-pursuit path.

  - During run, robot will constantly recalculate the required target velocity to match the requested time goal.

# Archetecture

The RP2040 has 2 cores and 2 PIOs. For simplicity, this program will not use an RTOS system since it should be easy to incorperate the required parallel tasks using the two cores of the RP2040.

## PIOs

The PIOs are responsible for tracking the encoder counts of each left/right wheel to reduce the amount of interrupts and context switches the main core needs to do.

## Main Core

Responsible for following the pure-pursuit path.

## Second Core

Will handle the odometry tracking.