Robot controller code in Rust for a two wheel robot driven by a Arduino Mega 2560.
This is a Work in Progress
The robot this code is designed to control is built with the following parts (some links are affiliate links):
| Name | Link | Notes |
|---|---|---|
| YIKESHU 2WD Chassis Kit | Amazon | |
| ELEGOO MEGA R3 Board | Amazon | Any Arduino Mega 2560 variant will do |
| MEGA Sensor Shield V1 | Amazon | Not strictly necessary, but it does make wiring much easier |
| L298N Motor Drive Controller Board Module Dual | Amazon | There are many makers of this fairly standard board |
| Infrared Slotted Optical Optocoupler Module | Amazon | Many variations on optocoupler models. This form factor works best with chassis. |
| Multicolored Dupont Wires | Amazon | You will use the female to female wires mostly in this build. |
| Right angled DC power connector | Amazon | Will be used to connect the Mega 2560 to power. |
| 6 AA Battery Holder | Amazon | The chassis kit comes with a 4 AA battery holder, but th robot works better with a 9V power supply |
| Big Button Module | Amazon | Adding a button or two to the robot will allow interactions with the control software. |
| microSD Module | Pololu | Used to collect telemetry while the robot is running autnomously |
Furthermore, You might find the following useful:
| Name | Link | Notes |
|---|---|---|
| Machine Screws, Bolts, Washers, and Nuts Kit | Amazon | You will need some hardware to connect parts to the chassis. |
| Brass Spacer Standoff Kit | Amazon | Using standoffs to connect various items to the chassis makes construction easier. |
| Ball Caster | Pololu | The tail caster that comes with the chassis kit creates turning error. A ball caster works better |
Finally, some soldering is required, so material and equipment required for soldering is required.
The goal of this project is to write the robot firmware in Rust. For this, this project is using avr-hal as the hardware abstraction layer for the Arduino Mega 2560.
-
Install prerequisites as described in the
avr-halREADME (avr-gcc,avr-libc,avrdude,ravedude). -
Run
cargo buildto build the firmware. -
Run
cargo runto flash the firmware to a connected board. Ifravedudefails to detect your board, check its documentation at https://crates.io/crates/ravedude. -
ravedudewill open a console session after flashing where you can interact with the UART console of your board.
Licensed under either of
- Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
- MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)
at your option.
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.