NooBot-Driver

This is a simple autopilot for the NooBot project. It has an IMU and magnetometer for heading and tilt information.
It uses a simple PID controller to control the steering and throttle of the rover, There's also an RK3588 board running ROS2 for AI functions, but it's not implemented yet.

Hardware

• MCU: STM32G431BT6
• IMU: BMI088
• Magnetometer: QMC5883L
• Power: 6S LiPo
• Motors: 2x brushed DC motors with quadrature encoders
• Screen: ST7735 160x80 TFT
• A few buttons and LEDs

Build the firmware

This is a PlatformIO project, so you need to install PlatformIO first.
Pin configuration (except for the screen) is in include/config.h, the screen is configured directly in platformio.ini

0. Clone this repo:

git clone https://github.com/HQU-gxy/ShittyRover-Autopilot/ --recursive --depth=1

1. Open the project in PlatformIO
2. Set the debug_tool and upload_protocol in platformio.ini to fit your debugger
3. Build and upload the project