This repo contains all the software used on our robots:

• can-io-firmware contains the firmware that runs on the IO board
• motor-control-firmware contains the firmware that runs on the motor board
• proximity-beacon-firmware contains the firmware that runs on the proximity beacon, it's the same code as the motor board but with a different application that is tailored to the needs of our proximity beacon module
• master-firmware contains the software that runs on the master board, it interfaces all the other boards over CAN and runs the robot's "intelligence".

Other important software components can be found in this repo:

• lib contains all the libraries and building blocks we use on multiple boards, which includes:
  • lib/can-bootloader the bootloader that allows us to update our boards (IO and motor) over CAN
  • lib/ChibiOS the RTOS/HAL we use on all our boards
  • lib/uavcan the CAN communication library we use on all our boards
  • lib/error a logging library
  • lib/parameter a library to create and manage configurations of boards
  • lib/msgbus a publish/subscribe library for inter thread communication
  • and more.
• tools groups all tools we use to develop on the robot including:
  • tools/pid-tuner a GUI to tune PID gains of motor boards over CAN, written using Python and Qt
  • tools/studio a set of introspection tools written in Python and Qt to debug our robots
• uavcan_data_types contains the custom message definitions (DSDL) for the UAVCAN communication protocol
• ci groups scripts and Docker files for our continuous integration server
• doc contains high-level documentation about the robot