🐭 Micromouse Software Implementation

Overview

This repository contains the software side of the CSULB-EATS Micromouse project.
It includes firmware, examples, and implementation guides for building and testing a HAL-based embedded control system using the NUCLEO-TOF400 (or similar STM32 board).

The project is written in C/C++ using the STM32 HAL library, structured for modularity and ease of testing.

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🧩 Repository Structure

Micromouse-Firmware/
│
├── /Core/                  # STM32 HAL core files (system init, startup) This should be within the STM32CubeMX/IDE built-in
├── /Drivers/               # STM32 HAL drivers (GPIO, TIM, ADC, UART, etc.) This one as well *
|
├── /Examples/              # Example projects for hardware testing
│   ├── IR_Test/
│   ├── Motor_Test/
│   ├── Encoder_Test/
│   ├── IMU_Test/
│   └── UART_Debug/
│
└── README.md

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⚙️ Setup & Requirements

Hardware

• Board: STM32 Board Specific

Software

• IDE: STM32CubeIDE (or VS Code)
• Libraries: STM32 HAL, CMSIS
• Debugging Tools: ST-Link V2, logic analyzer (optional)
• Version Control: Git / GitHub

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🚀 Getting Started

1. Open in STM32CubeIDE

File → Import → Existing Projects into Workspace

2. Build & Flash

Connect your board via USB and click Run → Debug.
Verify your ST-Link configuration matches the NUCLEO-TOF400 target.

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🧠 Key Features

• Modular HAL Design: Each subsystem (motors, sensors, encoders) isolated in its own BSP layer
• PID Control: Tunable motor control with adjustable gain parameters
• Sensor Fusion: Combines IMU and encoder data for precise movement
• Serial Debug: UART logging for live telemetry and diagnostics
• Examples Provided: Quick validation for hardware bring-up and driver testing

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🧭 Contributing

All modules follow the HAL-based modular architecture and should include:

• Header (.h) and source (.c) files
• Initialization, configuration, and runtime functions
• Clear documentation in /Docs for setup and testing

Please follow existing naming conventions and formatting.

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📄 License

This project is open-source for educational and research purposes.
© 2025 CSULB Embedded Application Technology Society (EATS)