Lunabotics Software

Software for the Ohio State Lunabotics Team.

Architecture

The software is split into three primary components:

• DriverStation (Python): Allows operators to remotely control the robot. This software is run on a laptop that connects to the robot's Raspberry Pi via Wifi.
• Robot Code (C++): High level robot code which handles networking, autonomy, computer vision. Communicates with the Driverstation via a TCP connection and communicates with the RP2040 HAL board via a USB serial port.
• HAL (C): the Hardware Abstraction Layer which interacts with hardware such as motors and sensors. Runs on the RP2040 feather board (HAL board).

File Structure

• Documentation: contains relevant documentation files
• DriverStation: contains the code to run the driver station
• HAL: contains the code to run on the RP2040 Feather board.
• PiResources: contains files that are installed onto the raspberry pi seperate from the software
• RobotCode: contains the code which runs on the raspberry pi.
• TestScripts: Utility scripts which can be used for testing the robot's software.