UNDLunarRobotics22

Code for the UND robot that will compete in Nasa Lunar Robotics competition in may 2022.

Prerequisites

• Software

  • SDL2
    • prefer libsdl2-dev
  • opencv with opencv_contrib
  • CTRE's Phoenix Library
    • Provides API for utilizing TalonSRX/ CTRE Brand MotorControllers over CAN

• Hardware

  • SocketCAN Adapter
  • CANable used on robot
  • Allows interfacing Linux Main Control Unit with CAN Bus
  • CTRE's Phoenix Library leverages SocketCAN standard on non-frc builds

• CTRE's TalonSRX MotorControllers

  • This code leverages CTRE's Library so it can be easily extended to cover other options

• Linux Based Main Control Unit

  • Nvidia Jetson Products
  • Nvidia Embedded Products
  • Raspberry Pi
  • A laptop running your flavor of Linux
  • etc.

• Resources and links

  • Google

Quick-Start

• Instalation

  • git clone this repository
    • ex. git clone [email protected]:PlavaFeniks\UNDLunarRobotics22.git
  • navigate to installation location in terminal
    • ex. If git clone was run at ~/Documents then run cd ~/Documents/UNDLunarRobotics22
  • run sudo bash install.sh with desired optional flags
    • -p will modify the sources list on raspberry pi's
      • so that they actually can run sudo apt-get install <packageName> or sudo apt-get <upgrade/update>
    • -o will also run the install scripts portion dedicated to installing Opencv with Contributions
      • This will take a significant amount of time
        • <40 min on a Raspberry Pi 4 Congratulations
  • You have just installed our interface into TalonSRX MotorControllers
  • Your device now has a service called robo.service that allows for plug and play functionality
    • This allows the robot to be manually driven using an xbox controller and a SocketCAN adapter

    • Working with Services

      • Started manually with sudo systemctl start robo
      • This can be disabled (will not launch on startup) with
        • sudo systmectl disable robo.service
      • Modified by editing
        • etc/system/systemd/robo.service
        • changes loaded with sudo systemctl daemon-reload
        • May need to modify the execstart line depending on where the install script was run
      • Stopped manually with
        • sudo systemctl stop robo
  • Installed the CTRE API at /usr/local/ctre
    • Object Libraries are found at /usr/local/ctre/lib/<your CPU architecture>
    • Include Headers are found at /usr/local/ctre/include
      • Can be included into files with <ctre.h>, <ctre/etc.h>
        • No need for relative/absolute pathing with "ctre/header.h", GCC does it for you!!
  • Potentially installed opencv with opencv_contrib