Async robot firmware for Waveshare Pico2Go (RP2350-Plus) in Embedded Rust with Embassy; leverages RP2350 for reliable motor control plus integrated IR remote support and robust capabilities.
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Waveshare Pico2Go Mobile Robot (Amazon B0FFH15ZW4)
- Mobile robot platform based on the RP2350-Plus microcontroller, compatible with Raspberry Pi Pico series.
- Features: Self-driving, remote control, includes RP2350-Plus control board, rich Wiki resources, and expansion options.
- Ideal for embedded robotics, motor control, and IR remote experiments.
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PAOWANG 14500 Rechargeable Battery 3.7V 2500mAh + Charger (Amazon B0CK1PWMTT)
- 4-pack of 14500 lithium-ion rechargeable batteries (button top) with charger.
- 3.7V, 2500mAh high capacity, suitable for powering the Pico2Go robot and similar embedded projects.
- Rechargeable, long life, and includes charger for convenience.
# Put your RP2350 in BOOTSEL mode (hold button while plugging USB)
./quick-flash.shThat's it! The script will build and flash automatically.
- Motor Control: PWM-based speed control with direction pins
- NEC IR Protocol Decoder: Async IR remote receiver
- Embassy Async Runtime: Clean async/await implementation for RP2350
- PWMA: GPIO 16
- AIN2: GPIO 17
- AIN1: GPIO 18
- BIN1: GPIO 19
- BIN2: GPIO 20
- PWMB: GPIO 21
- IR Receiver: GPIO 5
This project uses Embassy from git (main branch) since RP2350 support is very recent.
# Install the ARM Cortex-M33 target (already done if you followed setup)
rustup target add thumbv8m.main-none-eabihf
# Build
cargo build --releaseUse the included flash script for devices in BOOTSEL mode:
# 1. Hold BOOTSEL button on RP2350 and plug in USB
# 2. Run the flash script
./quick-flash.shThe script will:
- Build the release binary
- Convert ELF to UF2 format
- Flash using picotool (or copy to mounted volume)
- Auto-reset the device
cargo build --release
# Install elf2uf2-rs if not already installed
cargo install elf2uf2-rs --locked
# Convert to UF2
elf2uf2-rs target/thumbv8m.main-none-eabihf/release/robot-embassy \
target/thumbv8m.main-none-eabihf/release/robot-embassy.uf2
# Copy to mounted RP2350 volume
cp target/thumbv8m.main-none-eabihf/release/robot-embassy.uf2 /Volumes/RP2350/If you have a debug probe connected:
# Install probe-rs
cargo install probe-rs-tools --locked
# Uncomment the runner line in .cargo/config.toml
# Then run:
cargo run --releaseThe Cargo.toml uses git dependencies for Embassy crates to get the latest RP2350 support.
Once RP2350 support is published to crates.io, you can switch to versioned dependencies.
- Async/Await: IR decoding runs asynchronously using Embassy timers
- Type Safety: Rust's type system prevents many common embedded bugs
- No Blocking Loops: Uses
embassy_time::with_timeoutfor clean timeout handling - PWM Abstraction: Higher-level PWM API from embassy-rp
0x18: Forward0x08: Left0x1C: Stop0x5A: Right0x52: Backward0x09: Reset speed to 50%0x15: Increase speed0x07: Decrease speed
Auto-stop after 800ms of no IR signal.
MIT License
Copyright (c) 2025 Kevin Thomas
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.