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map.svelte The core map display component. Loads a map file from <appDataDir>/maps/, renders it in a letterboxed <img> element, and overlays interactive pins on top. Accepts a mode prop that controls what happens when the operator clicks the map. ModeClick beh...

This Page PurposeHigh-level designExternal dependencies Purpose The packet dispatcher is used to decode protobuf frames. Application code usually wants: strongly typed decoded payloadsone handler per packet typedecoupling between input reception and packet ...

Public API The following functions are available for the boards to use outside of the library. The public API consists of: packet_handler_t, packet_handler_config_t, PacketDispatcherInit(...), DispatchPacket()There are also stack depth macros: PACKET_HANDLE...

Purpose To reduce repetitive boilerplate when defining packet handlers, the module also provides a set of helper macros in packet_dispatcher_macros.h. These macros generate: a statically allocated queue buffera fully initialized packet_handler_config_t They ar...

More information on the mentioned steps can be found in Functions of the Packet Dispatcher Typical Usage Model Intended setup Define one handler function per packet typedefine one packet_handler_config_t entry per packet type (using the macros)provide queue ...

Purpose The Serial Commander is a terminal user interface (TUI) for sending commands to an STM32 CAN board over a serial connection. It provides a live split-screen view of outgoing commands and incoming serial data, with editable motor and PIO parameters. Pre...

Layout The TUI divides the terminal into four regions separated by line-drawing characters. ┌─────────────────────────────────────────────────────────────────┐ │ STM32 SERIAL COMMANDER /dev/ttyACM0 · 115200 baud │ ├─────────────────────────────...

Serial Commands KeyCommand sentDescription1speed <erpm>Sets motor speed to current erpm value2stopSends stop command3profile <erpm> <max_accel> <time_ms>Sends full motion profileb(PIO subprocess)Runs pio run -t <target> -e <env> in backgroundq(none)Quits the T...

Dependencies pip install pyserial PlatformIO (pio) must be in PATH for build/flash functionality. Running Auto-detect STM32 device (VID 0x0483): python3 serial_commander.py Specify port and baud rate manually: python3 serial_commander.py --port /dev/ttyACM0 --...

Business Logic is encoded in Behavior Trees (do check out the link, it's the nicest introduction to BTs there is). We use BehaviorTree.CPP library for this. All business logic lives in the rtt_behavior package. There's a bunch of BTs sketched out in the docs/b...

In 2016-2025, RoboTeam was doing football robots. See the old wiki for details.

Driving Motors (CubeMars) Each of the 6 driving motors requires power and data (CAN and UART) routed from inside the chassis of the rover. Power Power is delivered over a black (–) and a red (+) wire. These wires run through the interior of the aluminum extrus...

CAN BUS debugging testbench A breakout board for debugging connecting and developing CAN BUS peripherals (used mainly for CubeMars motors) over CAN and UART, built around an ethernet decoupler as the physical input connector. It exposes CAN H/L on a 4-pin head...