UICRM-Embedded-Tutorial

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The Tutorial of learning embedded system of RoboMaster Competition, including basic Develop skills, STM32, PID and some basic controll algorithm.

We assume that the people joined to our team has completed the COMP1023 Course, so we will not introduce the basic knowledge of C language. If you are not familiar with C language, please learn it first.

Content

Part.0 Basic Knowledge in Computer Science

1. How to search for the internet
2. How to use Git / Introduction of GitHub / How to make a Pull Request / How to merge the code.

Part.1 STM32 Introduction

1. Install Environments
2. How to read the Circuit diagram / New empty Project
3. Light LED
4. Shine the LED
5. Breakpoints, analyzing and debugging
6. Key input ( use polling method )
7. Key inturrupt input && Introduction of inturrupt
8. Introduction of timer / Use timer to shine the LED
9. Breathing light / Servo/ PWM output
10. Buzzer / Calculate frequency
11. ADC
12. OS Introduction / FreeRTOS
13. Multi thread && How to use flags
14. I2C / OLED / MPU6050
15. UART / Send or receive message on serial port
16. CAN / Motor on RoboMaster
17. SPI / External Storage / BMI088
18. DMA

Part.2 Knowledge on RoboMaster Embedded System

1. Basic circuit knowledge / D-Bus (Implement an inverse circuit)
2. Introduction to PID
3. How to Setting PID
4. Mecanum wheel / Omni wheel Angle Calculation
5. Karman flitter / AHRS / Get The AHRS angle
6. Cascade PID
7. Control the Gimbal

Part.3 RoboMaster Embedded System Framework

1. Setup New Program In Framework