C1C0 has four subsystems,

Subsystems

This repo: code for the teensy sensors and arbiter for bus communication

c1c0-movement: code for locomotion arduino (https://github.com/cornell-cup/c1c0-movement)

c1c0-precision-arm: code for precise arm arduino and blue arm used to test object detection off of C1C0 (https://github.com/cornell-cup/c1c0-precision-arm)

c1c0-strong-arm: code for strong arm arduino (https://github.com/cornell-cup/c1c0-strong-arm)

c1c0-scheduler: Code for scheduler which runs on the main Jetson nano.

To learn more about these subsystems, visit these repositories and read their ReadMe files.

High level diagram

See the images directory for a higher quality image.

Contained Files

This repository holds the sensor code, high level documents, as well as code to communicate arduinos between each-other

teensy_sensors/teensy_sensors.ino: Holds code to connect teensy to LIDAR, 3 terabee strips, and IMU

arbiter_teensy/arbiter_teensy.ino: Holds code for arbiter which acts as serial intermediate between jetson and other arduinos

libs/R2Protocol: Holds R2Protocol which is a library providing methods to pack, encode and decode data to send over serial. All arduino code uses this library. R2Protocol.h: For use in arduino code, only C/C++ R2Protocol.py: For use in Jetson code, only python