This is the repository that houses the code for an Omni Wheel Delta Robot. The robot uses a Pico W along with a motor shield. The documentation for the shield can be found at:
To set up the repository, the following libraries are needed: FreeRTOS SMP Branch Pico-SDK
The FreeRTOS library is included through a Git Submodule and can be added to the project using the following commands
cd include
git submodule add https:/github.com/FreeRTOS/FreeRTOS-Kernel.git --init-recursive
cd FreeRTOS
git checkout smp
git submodule update --recursive
The Pico-SDK can be added using the following guide:
The following relative paths also need to be set:
- PICO_SDK_PATH
- FREERTOS_KERNEL_PATH
The project makes use of FreeRTOS task scheduling instead of a state machine for controlling the robot since it allows
for more flexibility during future feature development, including the implementation of a state machine in
the main__task() if desired.
Lower level functions, such as I2C and GPIO, and configuration files are stored in the /lib directory.
In the /src directory, all functions used by FreeRTOS are defined in the multucore_management.h header file.
These functions are then launched in main__task().
In regard to the run time structure, most, if not all, of the control of the physical robot is handled on a single core, while the second core is dedicated to sending, receiving, and parsing data from an MQTT Broker.