Blitz V2

Project repository for the line follower Blitz V2 to compete in Robot SM 2020. Last years robot was Blitz V1.

Below is a rendered version of Blitz V2.

Goals

• Utilize more advanced control algorithm.
  • Acceleration control
    • Speed trajectory planner
  • Speed control
    • PID + Anti windup + Active damping
  • Position control
    • PID + Anti windup + Active damping
  • State space model + LQG controller (optional)
  • MPC - Model Predictive Conrol (optional)
• Map race track + Path planner (optional)
• Beat last years result and take 1st place. (not optional)
• Added hardware and improvements
  • Use of suction/exhuast fans
  • Single PCB
  • Bluetooth communication
  • High power motors (11W vs 1/2W)

Directories

robotsm20-linefollower
├── datasheets      
├── hardware        
│   ├── cad         # 3D models
│   │   └── stl     # 3D print files
│   └── pcb         # Schematic, layout and production files
├── img             
├── simulation      # Matlab + simulink simulations
└── software
    ├── Inc         # C header files
    └── Src         # C source files

Development enviroment

The microcontroller configuration for peripherals such as ADC, GPIO, TIM, Clock etc. is set up via STM32CubeMX (GUI) and is then ported to a PlatformIO project with the stm32pio command. The software is developed in the VS Code IDE with the PlatformIO plugin.

This makes it possible to generate base code for initialization of peripherals with the powerful configurator STM32CubeMX but also use the great PlatformIO + VS code ecosystem to manage compiling, uploading, debugging and scripting tasks.

Installation

In order to update configuration in STM32CubeMX and then update PlatformIO project you need to set up your development enviroment:

• Create a boards directory in your platformio home folder:

  • Unix: ~/.platformio/
  • Windows: %HOMEPATH%\.platformio

• Copy the custom board stm32f405rg.json to the newly created boards directory.

• Verify that the board has been added by running platformio boards stm32 and find the stm32f405 board.

  Common problems

  • If it is not in the list, make sure you put the boards in the correct folder and spelled it right.

  • platformio is not recognized as an internal command

• Rename the file stm32pio_template.ini inside the software folder to stm32pio.iniand fill it out according to the template:

[app]
java_cmd = java
platformio_cmd = platformio
cubemx_cmd = path/to/cubemx_program


[project]
cubemx_script_content = config load path/to/cubemx_file.ioc
   generate code path/to/projectFolder
   exit
platformio_ini_patch_content = [platformio]
   include_dir = Inc
   src_dir = Src
ioc_file = path/to/cubemxfile.ioc
board = stm32f405rg

Unix example

[app]
java_cmd = java
platformio_cmd = platformio
cubemx_cmd = /Applications/STMicroelectronics/STM32CubeMX.app/Contents/Resources/STM32CubeMX


[project]
cubemx_script_content = config load /Users/isakaslund/Documents/code/robotsm20-linefollower/software/software.ioc
	generate code /Users/isakaslund/Documents/code/robotsm20-linefollower/software/
	exit
platformio_ini_patch_content = [platformio]
	include_dir = Inc
	src_dir = Src
ioc_file = /Users/isakaslund/Documents/code/robotsm20-linefollower/software/software.ioc
board = stm32f405rg

Windows example

[app]
java_cmd = java
platformio_cmd = platformio
cubemx_cmd = C:/Program Files/STMicroelectronics/STM32Cube/STM32CubeMX/STM32CubeMX.exe

[project]
cubemx_script_content = config load C:\Users\Isak\Documents\GitHub\robotsm20-linefollower\software\software.ioc
	generate code C:\Users\Isak\Documents\GitHub\robotsm20-linefollower
	exit
platformio_ini_patch_content = [platformio]
	include_dir = Inc
	src_dir = Src
	
ioc_file = C:\Users\Isak\Documents\GitHub\robotsm20-linefollower\software\software.ioc
board = stm32f405rg

Your software folder should look this when finished

software
├── Inc
│   ├── header_files.h
│   ├── ...
├── Src
│   ├── c_files.c
│   ├── ...
├── platformio.ini
├── software.ioc
├── stm32f405rg.json
└── stm32pio.ini

Usage

Configuration change

Change configuration of peripherals in the STM32CubeMX file software.ioc and then save project. DO NOT click the generate code button.

To then update the platformio project run the following command inside the software folder:

$ stm32pio generate

Building

Use the platform build task or press the "✓" button in the bottom left in VS code

Uploading

A programmer called ST-Link is needed to upload by connecting it to the SWD pins found on the robot.

Use the platform io upload task or press the "⇨" button in the bottom left in vs code.

Debugging

With the STM32 processesor you can do more then Serial.println() debugging over serial. You can step debug, inspect/change variables, set breakpoints and more by using the dedicated debugger/programmer ST-Link and the platformio unified debugger.

When setup you can start debugging by going to Debug -> Start debugging in the menu bar.

Contributors

• Isak Åslund - aslundisak@gmail.com
• Oskar Johansson - oskaj@student.chalmers.se