hidaka sato / Mbed OS WRS2021_mecanum_driver

Mecanum robot firmware for WRS2020 Ususama

Dependencies:   UsusamaSerial MecanumInterface PMSU_100 PIDController IMUInterface WaypointManager i2cmaster MecanumController

README.md@3:35244995ff2e, 2021-08-25 (annotated)

Committer:
sgrsn
Date:
Wed Aug 25 12:12:06 2021 +0000
Revision:
3:35244995ff2e
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sgrsn 0:fe598340f74c 1 ![](./resources/official_armmbed_example_badge.png)
sgrsn 0:fe598340f74c 2 # Blinky Mbed OS example
sgrsn 0:fe598340f74c 3
sgrsn 0:fe598340f74c 4 The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/).
sgrsn 0:fe598340f74c 5
sgrsn 0:fe598340f74c 6 You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
sgrsn 0:fe598340f74c 7 (Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).)
sgrsn 0:fe598340f74c 8
sgrsn 0:fe598340f74c 9 1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html).
sgrsn 0:fe598340f74c 10
sgrsn 0:fe598340f74c 11 1. Clone this repository on your system, and change the current directory to where the project was cloned:
sgrsn 0:fe598340f74c 12
sgrsn 0:fe598340f74c 13 ```bash
sgrsn 0:fe598340f74c 14 $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky
sgrsn 0:fe598340f74c 15 ```
sgrsn 0:fe598340f74c 16
sgrsn 0:fe598340f74c 17 Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand:
sgrsn 0:fe598340f74c 18
sgrsn 0:fe598340f74c 19 ```bash
sgrsn 0:fe598340f74c 20 $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky
sgrsn 0:fe598340f74c 21 ```
sgrsn 0:fe598340f74c 22
sgrsn 0:fe598340f74c 23
sgrsn 0:fe598340f74c 24 ## Application functionality
sgrsn 0:fe598340f74c 25
sgrsn 0:fe598340f74c 26 The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board.
sgrsn 0:fe598340f74c 27
sgrsn 0:fe598340f74c 28 ## Building and running
sgrsn 0:fe598340f74c 29
sgrsn 0:fe598340f74c 30 1. Connect a USB cable between the USB port on the board and the host computer.
sgrsn 0:fe598340f74c 31 2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory:
sgrsn 0:fe598340f74c 32 ```bash
sgrsn 0:fe598340f74c 33 $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash
sgrsn 0:fe598340f74c 34 ```
sgrsn 0:fe598340f74c 35 The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`.
sgrsn 0:fe598340f74c 36
sgrsn 0:fe598340f74c 37 Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB.
sgrsn 0:fe598340f74c 38
sgrsn 0:fe598340f74c 39 Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target:
sgrsn 0:fe598340f74c 40
sgrsn 0:fe598340f74c 41 ```bash
sgrsn 0:fe598340f74c 42 $ mbed compile -S
sgrsn 0:fe598340f74c 43 ```
sgrsn 0:fe598340f74c 44
sgrsn 0:fe598340f74c 45 ## Expected output
sgrsn 0:fe598340f74c 46 The LED on your target turns on and off every 500 milliseconds.
sgrsn 0:fe598340f74c 47
sgrsn 0:fe598340f74c 48
sgrsn 0:fe598340f74c 49 ## Troubleshooting
sgrsn 0:fe598340f74c 50 If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
sgrsn 0:fe598340f74c 51
sgrsn 0:fe598340f74c 52 ## Related Links
sgrsn 0:fe598340f74c 53
sgrsn 0:fe598340f74c 54 * [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html).
sgrsn 0:fe598340f74c 55 * [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html).
sgrsn 0:fe598340f74c 56 * [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html).
sgrsn 0:fe598340f74c 57 * [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html).
sgrsn 0:fe598340f74c 58 * [Mbed boards](https://os.mbed.com/platforms/).
sgrsn 0:fe598340f74c 59
sgrsn 0:fe598340f74c 60 ### License and contributions
sgrsn 0:fe598340f74c 61
sgrsn 0:fe598340f74c 62 The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info.
sgrsn 0:fe598340f74c 63
sgrsn 0:fe598340f74c 64 This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.