Purdue Robomaster Two Wheeled Self Balancing Standard 2023

• Written using STM32 HAL Library and CubeMX.
• Main Control Board: DJI Robomaster Board A(STM32F427IIH6)

Basic Components Include:

• 2 * MF9025 Motors for Chassis
• 2 * M3508 Motors for Friction Wheels
• 2 * GM6020 Motors for Gimbal (Yaw & Pitch)
• 1 * M2006 Motor for Trigger

Current Function & Future Improvements

• Communications

  • DR16 Remote Control
  • Board A IMU
  • Motors
  • Super Capacitor
  • Board A to Board A
  • Referee System
  • Orin

• Basic Controls

  • Chassis (Balance, Forward/Backward, Rotate)
  • Gimbal (Yaw, Pitch)
  • Shooting (Friction Wheel On/Off, Single Shot, Burst)

• Advance Controls

  • Follow Gimbal Mode (Chassis Follow Gimbal)
  • SpinTop Mode (Gimbal Holds in Position while Chassis Spins)
  • Follow Wheel Mode (Wheel Side Facing Front)
  • Swing Mode (Continuous 180 Degree Rotation About Wheels Axis)
  • Power Limiting (Requires Referee System Communication)
  • Shooter Heat Regulation (Requires Referee System Communication)
  • Level Up Adjustments (Requires Referee System Communication)