Purdue Robomaster Mecanum Standard 2022

• Written using STM32 HAL Library and CubeMX.
• Main Control Board: DJI Robomaster Board A(STM32F427IIH6)

Basic Components Include:

• 4 * M3508 Motors for Chassis
• 2 * M3508 Motors for Friction Wheels
• 2 * GM6020 Motors for Gimbal (Yaw & Pitch)
• 1 * M2006 Motor for Trigger
• 1 * Super Capacitor for Temporary Power Overload

Current Function & Future Improvements

• Communications

  • DR16 Remote Control
  • Board A IMU
  • MPU6050 IMU
  • Motors
  • Super Capacitor
  • Referee System

• Basic Controls

  • Chassis (Forward/Backward, Leftward/Rightward, Rotate)
  • Gimbal (Yaw, Pitch)
  • Shooting (Friction Wheel On/Off, Single Shot, Burst)

• Advance Controls

  • Follow Gimbal Mode (Chassis Follow Gimbal)
  • Not Follow Gimbal Mode (Chassis Not Follow Gimbal)
  • SpinTop Mode (Gimbal Holds in Position while Chassis Spins)
  • Power Limiting (Requires Referee System Communication)
  • Shooter Heat Regulation (Requires Referee System Communication)
  • Level Up Adjustments (Requires Referee System Communication)

System Flow Chart

graph TD;
    BoilerBot_Infantry_2022-->Interrupt_Timer;
    Interrupt_Timer--USART1-->DR16_Remote_Control;
    Interrupt_Timer--USART6-->Referee_System;
    BoilerBot_Infantry_2022-->FreeRTOS;
    FreeRTOS-->General_Initialization;
    FreeRTOS-->IMU_Communication_&_Calculation;
    IMU_Communication_&_Calculation--SPI5-->MPU6500;
    IMU_Communication_&_Calculation--I2C-->MPU6050;
    FreeRTOS-->CAN_Send_Message;
    CAN_Send_Message-->Send_to_All;
    FreeRTOS-->CAN1_Receive_Message;
    CAN1_Receive_Message-->M2006_Trigger_Motor;
    CAN1_Receive_Message-->Super_Capacitor;
    CAN1_Receive_Message-->4*M3508_Chassis_Motors;
    CAN1_Receive_Message-->GM6020_Yaw_Motor;
    FreeRTOS-->CAN2_Receive_Message;
    CAN2_Receive_Message-->2*M3508_Friction_Wheel_Motors;
    CAN2_Receive_Message-->GM6020_Pitch_Motor;
    FreeRTOS-->Robot_Control;
    Robot_Control-->State_Machine;
    Robot_Control-->Chassis_Control;
    Robot_Control-->Gimbal_Control;
    Robot_Control-->Shooting_Control;