2026_custom_ctrl

Design

考虑到经济成本，本赛季采用6个磁编码器进行角度映射，在机械上使用阻尼轴承，从而实现同构控制。由于每个磁编码器芯片的iic地址不可更改，所以使用两路iic，每路iic读取3个不同的磁编码器芯片的角度位置。通过uart发送到串口转rs232芯片，最后再发送给裁判系统, 另外还可以通过oled显示6个磁编码器和按钮的实时状态

Hardware

• soc: STM32F401RET6
• power ctrl: IP5306 RT9013 (support type-c and BAT)
• sensor: as5600, as5600l, mt6701
• buzzer: FST-5020
• oled: 0.96 inches (driver SSD1306)
• rs232: MAX3232ESE(UMW)
• button

powered by lceda-pro

sensor independent driver code and hardware

Software

Dependencies

• etl
• freertos_kernel
• stm32cubemx
• RTT
• u8g2
• miaoUI

Requirements

Arm Toolchain for Embedded

include(cmake/clang.cmake)

• set the toolchain path 'TOOLCHAIN_PREFIX' and 'NEWLIB_DIR' in 'cmake/clang.cmake'
• libc: newlib

or arm-none-eabi-gcc 15.2.Rel1

include(cmake/gcc-arm-none-eabi.cmake)

Get started

cmake -B build -G Ninja
ninja -C build

Referee

modules