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# WolfieMouse
WolfieMouse is a robotics project to build [a micromouse](https://en.wikipedia.org/wiki/Micromouse). This project covers three parts:
* Robotics algorithm for maze solving (C++)
* low-level hardware driver software (C and ARM assembly)
* Tools to capture and plot robot's sensor data (Python)
* Embedded hardware design and PCB design (KiCad, an open-source alternative to Altium)
This robot won:
* **The Special Mention Award in 2018 IEEE Region 1 Micromouse Robotics Competition**.
* **The 3rd Place Award in 2019 IEEE Region 1 Micromouse Robotics Competition**.
<img src="doc/images/wolfiemouse_2018.jpg" width="290px"><img src="doc/images/wolfiemouse_maze_2018.jpg" width="290px">
<img src="doc/images/prize_2018.jpg" width="290px"><img src="doc/images/prize_2019.jpg" width="290px">
## Get started
If you don't know what is micromouse competition, [this document will help.](doc/What-is-Micromouse.md).
Requires tools:
* [GNU Arm Embedded Toolchain](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm) and [Makefile](https://www.gnu.org/software/make/manual/make.html) to build program for the robot.
* [OpenOCD](http://openocd.org/) to upload the program to the robot and to debug.
* [KiCad](http://kicad-pcb.org/) to design a PCB hardware.
Otherwise, a [Vagrant](https://www.vagrantup.com/) virtual machine environment is provided to skip installing the above tools.
If you whish to start with this project, see [get stared document](doc/Get-started.md).
## Documentation
See [documentation section.](doc/)
## Directory descriptions
* `doc`: Documentation folder
* `firmware`: The robot's program folder, including robotics algorithms and hardware drivers
* `simulation`: Programs to test algorithms on a desktop computer
* `tools`: Contains robot sensor data capturing tools and scripts for Vagrant machine.
## Gallery
Terminal-based simulation program. `M` stands for the position of the robot, `D` stands for the position of the goal in the maze, and `S` stands for the starting position.
Schematic overview.
PCB Footprint overview.
## License and Credits
Source code in `firmware` and `simulation` folders are licensed under [GPLv2.1](https://www.gnu.org/licenses/old-licenses/lgpl-2.1.en.html).
External libraries (FreeRTOS, CMSIS, STM32F4 HAL) under `firmware/lib` follow their own terms.
The fundamental hardware design is inspired by [Project Futura](http://micromouseusa.com/?page_id=1342) by [Green Ye](http://www.greenye.net/).
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