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| # Robomaster | ||
| Firmware for the Stampede RoboMaster team -- built on Taproot and modm | ||
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| ## Setup guide | ||
| ### Linux | ||
| * Install [Podman](https://podman.io/docs/installation#installing-on-linux) | ||
| * Install the [ST-Link](https://github.com/stlink-org/stlink#installation) package for udev permissions (required for flashing code to the robots) | ||
| * Install [VSCode](https://code.visualstudio.com/Download) (strongly recommended for ease of setup) and the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension | ||
| * Change Dev Containers: Docker Path to "podman" in VS Code settings | ||
| * Clone the repository `git clone --recurse-submodules https://github.com/ut-ras/robomaster` | ||
| * Open the `robomaster` folder in VS Code | ||
| * From the command palette (F1), run Dev Containers: Reopen in Container | ||
| * Done! When opening the project in the future, be sure to use the Dev Container | ||
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| ### macOS and Windows (10/11) | ||
| * Install [Podman](https://podman.io/) and [git](https://git-scm.com/downloads) | ||
| * Start the Podman VM through Podman Desktop or by running `podman machine init --now` | ||
| * Install [VSCode](https://code.visualstudio.com/Download) (strongly recommended for ease of setup) and the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension | ||
| * Change Dev Containers: Docker Path to "podman" in VS Code settings | ||
| * Clone the repository `git clone --recurse-submodules https://github.com/ut-ras/robomaster` | ||
| * Open the `robomaster` folder in VS Code | ||
| * From the command palette (F1), run Dev Containers: Reopen in Container | ||
| * Done! When opening the project in the future, be sure to start the Podman VM and use the Dev Container | ||
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| ## Building | ||
| To build the code, open the repository in its Dev Container and run | ||
| `scons build robot=<standard|hero|sentry>`. | ||
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| Alternatively, use Run Build Task (Ctrl+Shift+B) in VS Code and select the robot type. | ||
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| Note: Each robot has different hardware and requires variations in the code, so its important to ensure your final code builds on every robot. | ||
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| ## Flashing (Linux only) | ||
| To flash the code to robot hardware: | ||
| * Turn off power on the robot | ||
| * Connect an ST-Link to the robot and your computer | ||
| * Open a terminal and navigate to the repository (not in the Dev Container) | ||
| * Run `./flash.sh robot=<standard|hero|sentry>` | ||
| * Once this is complete, the firmware is flashed and you can turn the robot back on | ||
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| Note: Make sure you select the correct robot when flashing. Each robot has different hardware and flashing the wrong code can cause significant malfunctions and potential safety concerns. | ||
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| ## Powering on the robots | ||
| Safety notice: | ||
| These robots are big and powerful. When powering them on, and especially when testing new code, always be careful and assume they will malfunction. | ||
| The wheel motors are of special concern since the robot can spin out of control or drive into someone or something and cause damage. | ||
| Do not test the shooter at normal speeds unless in a controlled environment. | ||
| In the event that anything goes wrong, the controller acts as a kill switch and can be powered off to shut down the motors. | ||
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| To power on a robot and ensure proper calibration: | ||
| * Point the turret directly towards the battery and down to minimum pitch | ||
| * Turn on the battery by pressing the button once, releasing, and then holding for a few seconds | ||
| * Flip the power switch on | ||
| * Wait for the power up sequence to complete | ||
| * Power on the controller | ||
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| ## Resources | ||
| * [Taproot wiki](https://gitlab.com/aruw/controls/taproot/-/wikis/home): It has lots of content and we strongly recommend you browse through it to get a sense of what's there | ||
| * [Taproot API reference](https://aruw.gitlab.io/controls/taproot/): In-depth information about all the components of the library | ||
| * [modm](https://modm.io/): Website and associated documentation | ||
| * [aruw-mcb](https://gitlab.com/aruw/controls/aruw-mcb): ARUW's full robot code project available for reference | ||
| **Please visit the [Wiki](https://github.com/ut-ras/robomaster/wiki) for helpful resources and guides.** |