Welcome to the repository of DaVinciBot for the French Robotics Cup (Coupe de France de Robotique)!
Link to the competition's website
This repository includes 3 main directories:
├─ core
├─ firmware
└─ python_packagesThe core directory includes programs running on the Raspberry Pi cards of the robots. These files are mainly, but not exclusively, written in Python.
It can also contains utilities or debugging programs, like core/visualizer that are made to run on a separate computer. As the rules of the competition say, the robots must be fully autonomous and theses utilities are not required to start the robots.
This directory contains C/C++ programs that are compiled and sent to the Teensy or Arduino boards. Each folder contains a PlatformIO project that can easily be opened with Visual Studio Code for example.
It also contains the firmware/librairies folder that contains the libraries used by multiple boards or projects.
The python_packages directory contains the Python librairies used for this project, including intercom (see Architecture below) or maths and pygame utils.
During the competition, robots will try to score points by executing actions: this is the smallest thing a robot can do. These actions are grouped together in missions also defined in this directory.
Each robot contains:
- 2 motors (Worm Gearmotor, Ratio 100:1, with encoder
- 1 Raspberry Pi 4 Model B
- 1 Teensy 4.1 boards
- ...specific components like servos.
This year, our team decided to drop ROS (Robot Operating System) for a custom system. ROS may be the state of the art in its domain, we found it was a white elephant.
We then decided to use intercom as our communication system. It does not replace every feature of ROS, but they might be added in other packages of the project.
It works by using UDP multicast sockets to send and receive messages. Currently, Teensy boards support only the communication via a USB cable to a Raspberry Pi running a proxy.
TODO: Include a schematic of the architecture.