This repository contains the firmware for Robotronik's 2026 PAMIs (Small Intelligent Mobile Actuator) designed for the French Robotics Cup.
- High-Frequency Odometry: Real-time position tracking using magnetic Hall effect encoders.
- Closed-Loop Control: Dual PID controllers for precise velocity and heading management.
- Smooth Trajectories: Integrated support for linear movements and "LookAt" orientation commands.
- Obstacle Avoidance: Real-time distance monitoring via ultrasonic sensors to prevent collisions on the field.
- Power Management: Active battery voltage monitoring (ADC) to protect LiPo cells from deep discharge.
- Safety Stops: Automatic emergency stop logic triggered by sensors or match timers.
- Automated Sequence: Manages the full match lifecycle from pull-cord detection to final stop.
- Action Handling: Precise control over servo-driven mechanisms for game element manipulation.
- User Interface: RGB LED feedback for team color identification and system diagnostics.
| Component | ESP32 Pin | Function |
|---|---|---|
| DC Motors | 17, 18, 19, 21 | PWM Driver Control |
| Encoders | 32, 33, 36, 39 | Hall Effect (A/B Channels) |
| Servos | 26, 27 | Mechanism Actuation |
| Start Cord | 23 | Pull-cord Interrupt (Tirette) |
| Ultrasonics | 35 (TX), 16 (RX) | Range Sensing |
| Battery Sense | 34 | Voltage Monitoring (Analog) |
This project uses the standard ESP-IDF toolchain. Ensure you have the environment exported before running the build scripts.
- Clone the repository:
git clone git@github.com:robotronik/CDFR2026-PAMIs-2-CODE.git cd CDFR2026-PAMIs-2-CODE - Install ESP-IDF: Ensure
idf.pyis installed on your machine. - Configure: (Optional) Run
idf.py menuconfigto adjust project-specific settings.