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History

Drew Bednar 8434390115 new usb uart examples		3 years ago
..
README.md	saving Arni 0.1.0 firmware	3 years ago
ble_advertising.py	working Arni controller	3 years ago
ble_arni_odrive_controller.py	saving Arni 0.1.0 firmware	3 years ago
robot.py	new usb uart examples	3 years ago

README.md

Arni

This code supports using an ESP32 and the Dabble ios app to control 2 hoverboard motors driven by an Odrive.

Install

upy put  bluetooth/esp32/arni/ble_advertising.py ble_advertising.py
upy put bluetooth/esp32/arni/robot.py robot.py
upy put bluetooth/esp32/arni/ble_arni_odrive_controller.py main.py

Confirm with upy ls

Usage

With the ESP32 and Odrive powered on open the Dabble and connect. This does not support Joystick yet. This is a work in progress.

Buttons

Key	Action
Select	Toggles Odrive idle / loop control states
Start	Performs an Odrive AXIS_STATE_ENCODER_OFFSET_CALIBRATION