R2 Robotics

Repo for the 2R Educational Robot of ME 495 Robot Design Studio

System capabilities

• Timers: 6 16/32-bit blocks, each block has 2 16-bit counters (timer A and timer B) that can be combined to 32-bit, and 6 wide 32/64-bit blocks, each wide block has 2 32-bit counters that can be combined to 64 bits. Note that some timers are used for PWM.

Examples

The examples include short code snippets to quickly get use out of the TM4C123GXL Launchpad

• Blink
• PWM
• PID Controller (QEI + PWM)
• Quadrature Encoder Interface (QEI)
• Debug Output via UART
• SPI
• SPI RAM (todo)
• UART

Roadmap

This roadmap lists the tasks to do as the software architecture develops

• PID control for 1 motor
• PID control for 2 motors
• MATLAB interface for PID for 1 motor
• MATLAB interface for PID for 2 motor
• Lead-Lag control law
• GUI interface for PID control
• Velocity PID control
• Implement control law interface
• Stopping code - motor spins very fast when loading new code at the moment
• Implement modifiable control law interface
• Implement sensor SPI interface
• Current sense code
• Temperature sense code

Quickstart

We found that when starting a project, these libraries have to be manually added. If there is an automatic way, feel free to share it with us!

[Left click on Project] -> Show Build Settings -> CSS Build, ARM Compiler, Include options -> add "C:\ti\TivaWare_C_Series-2.1.3.156" to path

[Left click on Project] -> Show Build Settings -> CSS Build, ARM Linker, Include lib -> add "C:\ti\TivaWare_C_Series-2.1.3.156\driverlib\ccs\Debug\driverlib.lib"

[Right click on Project] -> Import, Import -> General, Import from File System -> "C:\ti\ivaWare_C_Series-2.1.3.156\utils", Select the ones you want

Making the stack size bigger

If you want to use string processing/more breakpoints

[Right click on Project] -> Arm Linker, Basic Options -> set stack size to 1024

Including the R2R header and source files

[Right click on Project] -> New, Header file -> name file "r2r.h" -> copy and paste .r and .c code from repo

Adding interrupts

1. Enable interrupts
2. Write interrupt code
3. Define interrupt in the startup.ccs file
4. Define interrupt in the interrupt vector

Declarations

Using '=' outside of the main loop will generate an error because CCS will think it is a declaration and be confused if you previously declared the variable.

Useful References

1. Tivaware Driver Peripheral Library Reference