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DiscoBot

A Real Time Embedded STM32 Discovery robot. Stayin' Alive.

##Requirements ###Hardware

  1. STM32-F4 ARM Cortex-M4 MCU (such as the STM32-F4 Discovery Board)
  2. 2 Xbee Radios
  3. L293 Motor Driver
  4. A Differential drive robot

WIRING CONNECTIONS:

For PC controlled xbee:

FTDI PIN XBEE PIN
GND GND
5V 5V
RX TX
TX RX
PD0 EOC

For robot Xbee:

STM32F4 PIN XBEE PIN
GND GND
3V 3V
PB7 TX
PB6 RX

For the motor driver:

STM32F4 PIN MOTOR PIN
PA1 LEFT MOTOR
PA2 LEFT MOTOR
PA3 RIGHT MOTOR
PA4 RIGHT MOTOR

###Software -The ARM Standard Peripheral Library must be included to properly use this driver. Specifically make sure you have included these S.P.L. files in your project's working directory:
(update this list) "stm32f4xx.h"
"stm32f4xx_rcc.h"
"stm32f4xx_gpio.h"
"stm32f4xx_usart.h"
"misc.h"

-Java Interface:

##Documentation: This project is Doxygen compatible. A doxyfile has been included for easily generating documentation. Input and output paths may need to be edited to the path of your download directory.

##Basic Usage: (see: main.c for a working example)

Open a terminal in the project directory and run the gnu make command:
make clean && make

Open a new terminal and run openocd: openocd -f board/stm32f4discovery.cfg

To flash the binary onto the STM32 board: st-flash write STM32_example.bin 0x8000000

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A Real Time Embedded Disco-very STM32 robot.

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