dragonlock2/MMv3

MMv3

MMv3 is the 3rd generation robot platform used to teach the IEEE Micromouse DeCal at UC Berkeley. It was designed with usability, manufacturability, size, and cost in mind.

Setup

1. Follow the assembly instructions in lab1 using the latest BOM (see releases).
2. Plug mouse into your computer and upload the latest firmware.uf2 (see releases) by dragging the file into the RPI-RP2 folder that shows up. It should disappear and reappear as a CIRCUITPY folder.
   • If you've uploaded firmware before, you'll need to hold the BOOTSEL button on the Pi Pico while plugging in.
3. Download the latest CircuitPython libraries (for Version 7.x) and upload the following ones to the lib/ folder on your mouse.
   • adafruit_motor/
   • adafruit_onewire/
   • neopixel.mpy

Labs

Skeleton lab code, lab documents, and solutions are stored in labs/, docs/, and solutions/, respectively. To get started with a lab, simply copy the contents of the folder over to the CircuitPython drive and edit files from there.

• sanity - Hardware Check
• lab1 - Assembly and CircuitPython Basics
• lab2 - Encoders
• lab3 - IR Sensors
• lab4 - Odometry and Motor Control
• lab5 - Intro to PID
• lab6 - More PID
• lab7 - Maze Solving Primitives (WIP)
• lab8 - Flood Fill (WIP)

Compiling CircuitPython

The DS28E05 1-Wire EEPROM operates at overdrive speeds only. Adding support involves compiling a patched version of CircuitPython.

1. Follow these instructions to get your system set up for compilation.
2. Follow these instructions to clone CircuitPython and do further setup but don't compile CircuitPython just yet.
3. Apply circuitpython.patch using patch -p1 < circuitpython.patch
   • Also apply macos.patch if using MacOS.
4. Compile CircuitPython with cd ports/raspberrypi && make BOARD=raspberry_pi_pico
5. Upload the resulting firmware.uf2!