mate-rnd-oqbot

This is the repository containing all the code for One Degree North Robotics's ROV for the 2021 MATE Ranger competition.

Directory

• controls_pygame - original pygame version of control GUI. no longer working. deprecated.
• controls_pyqt - new PyQt5 version of the control GUI.
  • gui.py - main GUI script.
  • key_signal.py - helper script containing key signal class.
  • exit_program.py - program exit and cleanup
• docs
  • command-list.md - list of commands that can be sent between the microcontroller and control station.
  • packet-structure.md - document detailing how packets work and how they are sent in communications.
  • mcu_cli.md - list of commands for mcu_cli.py
• mcu-code
  • mcu-code.ino - contains all microcontroller-side code.
• mcu_lib
  • mcu.py - main script containing the MCUInterface class.
  • command_constants.py - various constants to import.
  • packets.py - script containing packet classes representing each type of return packet, as well as generic
• mcu_tests
  • multi-sensor-test/multi-sensor-test.ino - test ICM20649. outdated
  • multi-serial-test/multi-serial-test.ino - test multiple serial channels, including debug, on M0+-type chips
  • pwm-test/pwm-test.ino - test one PWM motor.
• comms.py - communication layer interface between a GUI and mcu.py.
• main.py - main script, to be run by the user.
• mcu_cli.py - command line tool for manually sending commands to mcu.py. see docs/mcu_cli.md.

Dependencies

Python 3.9+ (pip) (For running the program)

• PyQt5 (should also work with PySide2/PySide6/PyQt6)
• PySerial v3.0+ (recommend v3.5b0 honestly)

Arduino 1.8.10+ (For compiling & uploading to MCU)

• Arduino SAMD
• Adafruit's Board Manager URL (https://adafruit.github.io/arduino-board-index/package_adafruit_index.json)
  • Adafruit SAMD
• On Linux, make sure you have arm-none-eabi-gcc working

Instructions

Clone the repo:

git clone https://github.com/One-Degree-North/mate-rnd-oqbot
cd mate-rnd-oqbot

Install dependencies, if needed:

python3.9 -m pip install PyQt5 pyserial

On Linux, allow read/write/execute access on the tty port that you want to use:

# replace X with the one you're using (usually 0)
sudo chmod a+rwx /dev/ttyUSBX

Run the script:

python3.9 main.py

Resources

• System integration diagram
• Technical Paper (soon)

Credits

• Team Developers
  • Jefferson Zhang (lutet88)
  • Ayam Babu (ayambabu23)
  • Liam Kelly (fillnye)
  • Nitya Arora (arora767287)
• Other team contributors
  • Ming Jin Yong
  • Emilio Orcullo