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General structure The general structure of how the control system is made, tested, and deployed works like this: The control system is made using Simulink, using mostly the base functionality to calculate the needed values for different parts of control. Once ...

Overview In general, the job of the control system is to turn high level instructions from the software system, and turn them into instructions for the hardware. This is done by having a positions in 3d space (x, y z), a final gripper angle (respective to the ...

Architecture & Frontend Patterns (Midas) The RFID Tracker (codename Midas) follows a traditional Django structure but uses a “Single File Component” philosophy for its views. Project Organization The project is split into the core configuration and the functio...

Defining terms To do kinematics on the robotic arm, it first needs to be modelled in a way to do calculations on the different joint angles and positions. This is done by using 4x4 matrix notation to represent the different joints. The different points and ang...

Simulink Overview The main simulation used for testing the control system of the robotic arm is made with Simulink, using the different parts of the Simscape suite to simulate the robotic arm. The simulation works by using a main control block that sends inst...

Purpose The ili9341 library provides the low-level and mid-level drawing interface for the ILI9341-based display used on the debugging board. Its role is to hide the raw command sequence and SPI transaction details of the display controller behind a set of fun...

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Screw off the skirtPlug in the batterySelect test mode (7th switch OFF)BootRobot number on the screen matches its skirtIf not, enter correct number in binary in the switches 0–3Click OKSelf Tests → System Test → System TestWheels rotate smoothly and forcefully...

This page: the short, concrete workflow for using STM32CubeMX to configure an STM32 project and generate init code without accidentally nuking your work. Download: https://www.st.com/en/development-tools/stm32cubemx.html 1) What is it STM32CubeMX is a graphic...

On this page 1. Why submodules?2. Key concepts3. Cloning a repo with submodules4. Adding ERC-Protobufs as a submodule5. Updating ERC-Protobufs (pinning a new commit)6. Branches, detached HEAD, and what “pinned” means7. Common mistakes8. Command cheat sheet 1) ...

What are protobufs? Protocol Buffers (protobufs) are a way to define structured messages in .proto files. The point is simple: define the message format once, generate code for your language, and now everyone agrees what the bytes mean (without inventing a new...

Purpose The menu driver is a page-based UI framework for an embedded display (ILI9341). It defines: how UI is structured into pageshow state is stored per pagehow navigation workshow rendering is organized Architecture Position [ Application Logic ] ↓...

Visual Configuration #define MENU_DRIVER_BACKGROUND_COLOR 0x0000 #define MENU_DRIVER_FOREGROUND_COLOR 0xFFFF Black background, white foreground. Layout Constraints #define MENU_SIDEBAR_WIDTH 38 Sidebar (ribbon) width. Capacity Limits List Pages #define MAX_LI...

Page State Types A page state is: The persistent data container that represents everything a UI page needs to function between frames. Not just data. It’s: memory of what the user didmemory of what was renderedmemory of external data (diagnostics, etc.) List P...

Introduction The List Page is a navigation-oriented page type within the menu driver. It provides a structured interface for selecting between multiple entries, typically representing: subpagesactionssystem modules It is the primary mechanism for user-driven n...