Mobile Robotics Code

Code for CS 181R---Mobile Robotics---at Pomona College.

Directory Structure

.
├── Examples
│  ├── MotorControl
│  ├── WSHeartbeat
│  └── WSHeartbeatRefactored
├── include
│  ├── motorcontrol.h
│  └── wscommunicator.h
└── README.md

The Arduino-based motor code is split into the Examples and include directories. The include directory contains headers files for use in all complete programs.

Dependencies

You will need to install

• Arduino
• The Espressif Systems ESP32 board manager
• WebSocket Server and Client for Arduino

Setup:

1. Install Toit and Jaguar
2. Initialize Jaguar: jag setup
3. Plug your XIAO ESP32-S3 board into your computer
4. Flash the board:
   • jag flash --chip esp32s3 (SSID: Claremont-ETC; password on Slack)
5. Clone the course code:
   • git clone https://github.com/anthonyjclark/MobileRoboticsCode
6. In two separate terminals: Monitor the serial output with:
   • jag monitor Run a program with:
   • jag run FILE --device IP

Use the following command to save the Wi-Fi credentials so that you only need to type them once:

• jag config wifi set --wifi-ssid SSID --wifi-password PASSWORD

Get IP:

• jag device ls

To Run:

In terminal 1

• jag monitor

In terminal 2

• cd ~/Classes/MobileRobotics/MobileRoboticsCode/led
• jag run demo.toit --device IP

Remote Connect:

• wscat --connect ws://10.128.5.87:8181

Arduino setup:

1. Install Arduino IDE