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Codebase for UConn's Finalist team in the 2022 NASA Big Idea Challenge. Includes robot configuration, motion control, and other tools

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The UConn AMBER (Adaptive Morphing and Balanced Exploratory Rover) Project

A group of students at the University of Connecticut were selected as finalists in the annual NASA Big Idea Challenge (see our submission or the video)

Modules and project structure

kinematics:

odrive: contains scripts to configure ODrive motor controllers for use with project hardware alongside tuning.

computing: defines shell scripts to configure computing devices used in the project (Raspbery Pi 4, Isolated CAN Hat, NVIDIA AGX)

docker: contains dockerfile for project virtualization in a container for development purposes. Additionally used to standardize the ROS environment.

rust-client: serves as the main entry point for the project and application.
|-- rustodrive
|--|-- gui: implements a user interface for visualizing the state of odrives and executing simple commands for debugging
|--|-- rustodrive: implements communication between the Raspberry Pi 4 and the ODrives via CAN
|--|-- imu: implemented serial communication with HWT905-TTL

tread: communication between the arduino and the main computing setup. Eventually will be integrated into rust-client.

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Codebase for UConn's Finalist team in the 2022 NASA Big Idea Challenge. Includes robot configuration, motion control, and other tools

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  • Python 62.6%
  • Rust 29.5%
  • Shell 6.2%
  • Dockerfile 1.7%