jakub-vesely / hugo

Modular robotics car

Main goal of this project is to build a robotic car for my children. Although, it is designed as a common modular system with ambition to be used as a generic educative tool/toy.

Current version of the Hugo project is based on ESP32, and Micropython. Extensive blocks (tyny-blocks) are based on AtTiny 412/416 micro-controllers running Arduino code.

project uses forked Micropython https://github.com/jakub-vesely/micropython. HuGo board specific code is located in the micropython/ports/esp32/boards/HUGO/ directory and can be flashed by command: "idf.py -D MICROPY_BOARD=HUGO -B build-HUGO flash monitor -p <COM PORT>"

Usage

Hugo specific scripts are stored in micropython/ports/esp32/boards/HUGO/modules. These files are already prebuilt to the firmware. User defined behavior should be inserted to tools/upload/events.py. Hugo project is optimized for "events driven programming" hance all user defined actions should be added via planned by one of these methods:

• plan (function, *args, **kwargs) for performance without expected delay
• postpone (delay_s, function, *args, **kwargs) for performance an action after a defined delay
• repeat (delay_s, function, *args, **kwargs) for continuous performed action with a defined delay

Note: These planner methods expects action method name defined as parameter without brackets followed by its parameters.

Planned action can be removed by the kill (handle) method. Appropriate handle is returned by method creating the event. Programmed behavior can be uploaded to Hugo main block by launching script "python hugo_terminal.py -f -m" from the tools sub-directory.

Uploading will be performed wireless via BLE.

Development

Scripts already placed to firmware can be replaced by uploading files placed in tools/develop directory. These files can be changed and uploaded to the Hugo main block by launching "python hugo_terminal.py -f -m" from the tools sub-directory.

For integration changes to firmware the original files in micropython/ports/esp32/boards/HUGO/modules have to be replaced by updated once. This action can be performed by launching "python devel_to_firmware.py".

To build firmware esp-idf version 4 must be installed. The build and upload to Hugo main block can be performed by launching:

"idf.py -D MICROPY_BOARD=HUGO -B build-HUGO erase_flash flash monitor -p <COM PORT>" from the micropython/ports/esp32/ directory.

The parameter erase_flash is recommended to remove previously uploaded scripts.

Sources

• Micropython homepage: https://micropython.org/
• Overview of ESP32 features is available here: https://www.espressif.com/en/products/socs/esp32/overview
• esp-idf is linked externally as recommended. Getting started guide is available here: https://docs.espressif.com/projects/esp-idf/en/stable/get-started/
• Arduino official web page https://www.arduino.cc/
• Arduino support for AtTiny series 0 and 1 https://github.com/SpenceKonde/megaTinyCore

Deprecated

• originally was the HuGo project based of LUA but this interpreter is not supported any more
• esp-idf project with LUA support has been moved to src_deprecated directory
• LUA 3.5.4 is part of the repository. Original source code is available here: https://www.lua.org/download.html