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Compling Firmware

The LGDXRobot2 MCU includes only the minimal source code, so it is necessary to generate the complete project before proceeding. You can then use any supported IDE to build and flash the firmware.

Prerequisites

The following software is required to build and flash the firmware:

Build

Generate the Project

  1. Clone the project repository.
  2. Launch STM32CubeMX and open the .ioc file.
  3. (If not using the VS Code extension) Switch to the Project Manager tab and select the corresponding IDE.
  4. Press the GENERATE CODE button.

Configure and Build

The firmware is designed to be adaptable to different configurations, but it must be customised for your specific setup. Open the project in your IDE and navigate to the Inc/configuration.h file. Change the following variables to match your configuration:

Variable Name Example Value Description
CHASSIS_LX 0.237 Distance from chassis centre to wheel centre in metres (m) along the X-axis (left to right).
CHASSIS_LY 0.287 Distance from chassis centre to wheel centre in metres (m) along the Y-axis (forward direction).
WHEEL_RADIUS 0.0375 Radius of each wheel in metres (m).
ENCODER_PPR 3960 Encoder pulses per revolution; multiply by 4 (e.g. 11×90×4).
MOTOR_GEAR_RATIO 90 Gear ratio of the motor.
MOTOR_MAX_SPEED {10.948,11.424,11.1066,10.6306} Maximum speed of each motor (wheel velocity in ChassisTuner).
PID_LEVEL_VELOCITY {2.0f,5.0f,10.0f} Velocity for each PID level (m/s).
PID_KP {{6,5,6,6},{…},{…}} Proportional gain constant for motor PID control.
PID_KI {{6,5,6,6},{…},{…}} Integral gain constant for motor PID control.
PID_KD {{6,5,6,6},{…},{…}} Derivative gain constant for motor PID control.
MOTOR_SPEED_RAMP 0.1f Speed ramp rate when decelerating the motor (m/s).
ENABLE_POWER_MONITORING N/A Enables INA226 power monitoring; comment out if not used.
POWER_MAXIMUM_CURRENT 15.0f Maximum current limit of the power supply (A). A higher value indicates an open circuit.
POWER_MINIMUM_VOLTAGE 12.0f Minimum operating voltage for the motor power supply (V). A lower value indicates a depleted battery.

Motor numbering starts from 1, and PID levels also start from 1.

Once the modifications are complete, you can build and flash the firmware onto the device.