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S.P.R.K.

Parts of the project

  1. The SPRK robot program (this repository) running on a Raspberry Pi.
  2. The ESP-32 that runs custom software that handles all low level IO on the robot and communicates to the Pi via SPI.
  3. The teleoperator console that connects to the Pi via a network socket.

Purpose

The purpose of this was to create a general purpose robot framework, mainly for use on the SPRK robot. Hence, why src/base/ exists.

Building the project

Ensure you are in the root of the project first.

  1. For a x64 linux target, run
mkdir ./build && cd ./build && cmake ../src && cmake --build . --clean-first

The output will be an executable ./robot

  1. For an arm target, use the toolchain-rpi.cmake file by running
mkdir ./build-arm && cd ./build-arm && cmake -DCMAKE_TOOLCHAIN_FILE=../toolchain-rpi.cmake ../src/ && cmake --build . --clean-first

Deploying to RPi

Yes, the IP is hardcoded in deploy.sh. There is a VS code task that runs it.

If you read this far...

Don't ask me what SPRK stands for. I don't know either. Originally, the robot was named SHARK for "Self Height Adjusting Robot with Kinematics", and when I realized I didn't have CAD experience at the time, was quickly scrapped. We put off the renaming the project until the day of the STEM showcase.

Credits

  • Leon de Boer: C SPI logic