porridgepi/wro-fe-2023

Repository of Team FE0901 participating in WRO 2023 Future Engineers

WRO 2023 Future Engineers

Team Information

Team ID: FE0901

Team Name: raffles institution team 3

Team Members

• Yikun
• Zachary

Overview

Welcome to the GitHub repository for Team FE0901 participating in WRO 2023. In this competition, we are building an autonomous robotic vehicle capable of completing 2 different challenges. This README provides a simple overview. If you wish to delve deeper into our engineering process, please check out our Engineering Journal or download it as PDF.

Demo

A demonstration video of our robot in action can be found on YouTube (or in the video.md file): https://youtu.be/pbWbQL5pThI

Key Timestamps

Open Challenge

• Run 1: 00:03
• Runs 2 & 3: 01:15

Obstacle Challenge:

• Run 1: 03:40

Usage

For Code, Using Visual Studio Code:

• Clone this repository: git clone https://github.com/PorridgePi/WRO-FE-2023
• Change directory: cd ./WRO-FE-2023/
• Initialise Git submodule(s): git submodule update --init --recursive
• Open the repository in VSCode: code ./
• Install the PlatformIO plugin
• Select the appropriate PlatformIO Environment
• Use the PlatformIO plugin to compile and upload code onto the microcontroller (Raspberry PI Pico)

For Camera (OpenMV): Using the OpenMV IDE

• Open the camera code (src/omv_main.py) in OpenMV IDE
• Upload code onto OpenMV by:
  • Select Tools Menu
  • Click Save open script onto OpenMV Cam (as main.py)

For Documentation, Using Obsidian:

• Clone this repository: git clone https://github.com/PorridgePi/WRO-FE-2023
• Open the cloned directory as a Vault

For PCB, Using KiCAD:

• Clone this repository: git clone https://github.com/PorridgePi/WRO-FE-2023
• Open the file schemes/WRO_2023/WRO_2023.kicad_pro

Repository Content

• .github/workflows/platformio-ci.yml: GitHub Actions CI workflow for PlatformIO (Documentation)
• .vscode/: Folder containing VSCode workspace settings
  • extensions.json: List of recommended and unwanted extensions (Documentation)
• models/: 3D models
• others/: Other files
• schemes/: Schematic diagram and PCB
  • WRO_2023: PCB files that can be opened in KiCAD
• scripts/: Scripts for PlatformIO
  • ci.sh: Script for CI test
• src/: Main code
  • lib/: Libraries for components
    • Notably:
      • lib/private/Common.h: Shared code between open.cpp and obstacle.cpp
      • lib/Mecha_QMC5883L: Forked version of library for the QMC5883L magnetometer
  • test/: Test code
  • main.cpp: Placeholder file
  • obstacle.cpp: Code for the Obstacle Challenge
  • open.cpp: Code for the Open Challenge
• t-photos: Team photo
• v-photos: Photos of the vehicle (from many different angles!)
• video: Contains video.md with the link to the video of the driving demonstration
• .clang-format: ClangFormat code style file - to format code in VSCode
• .gitignore: gitignore file (Documentation)
• platformio.ini: PlatformIO configuration file (Documentation)
• README.md: This file

Reminders before Running

1. Calibrate compass(es)
2. Ensure steering mechanism is tightened
3. Clean wheels to ensure grip

Hardware used

• Motor: 1x GM25-12CPR
• Servo: 1x MG996R
• Motor Driver: 1x AT8236
• Microcontroller: 1x Raspberry Pi Pico
• Voltage Regulator (5V): 1x CKCS-BK-2
• LiDAR: 5x TF-Luna
• Camera: 1x OpenMV M7
• Compass: 1x GY-273 and 1x GY-271
• Battery: 1x Turnigy nano-tech 1300mAh 3S 45~90C Lipo Pack

Continual Integration (CI) Testing

We have a simple CI testing setup with GitHub Actions, using the scripts/ci.sh script to automate the process of building our code for all different environments in platformio.ini. It checks for build success and ensures that the code can be successfully compiled.

CI is a critical aspect of our development process. It allows us to detect issues and errors in our codebase as soon as they occur. This early detection is invaluable in preventing the accumulation of errors and simplifying debugging.

Besides, our project involves multiple team members working collaboratively. CI ensures that all code changes made by different team members do not introduce regressions or break existing functionality.

To check the status of our CI, go to the Actions tab and view the workflow runs. If everything is going well, you should be only seeing green ticks. However, if you are seeing red crosses, something is up, but don't fret, we are definitely working hard to iron out the bugs!

(or alternatively, just look at the badge below for the CI status)