QR-Wanbot Project

This project demonstrates the use of FreeRTOS on an STM32 microcontroller to manage two main tasks: MainTask and CalcTask. The MainTask is responsible for high-level control, while CalcTask handles servo angle calculations and PID control for balancing.

Project Structure

• freertos.c: The main file where the FreeRTOS tasks are created and initialized.
• main.h: Header file containing global definitions and includes.
• main.c: Initialization code for the STM32 peripherals and FreeRTOS scheduler.
• PCA9865.c/h: Code for the servo driver communication.
• MPU6050.c/h: Code for the IMU driver communication.
• spid.c/h: Code for PID control implementation.

Tasks Description

1. MainTask

• Purpose: The MainTask is responsible for high-level control logic. It manages the overall system state, handles user inputs, and coordinates between different subsystems.
• Functionality:
  • Initializes system components.
  • Reacts to data recieved from the phone app.
  • Decides the each leg's position based on gait cycle.

2. CalcTask

• Purpose: The CalcTask is responsible for calculating the angles for the servos and implementing the PID control algorithm for balancing.
• Functionality:
  • Reads sensor data (e.g., IMU) to determine the current orientation.
  • Calculates the required servo angles to maintain balance.
  • Implements the PID control algorithm to adjust the servo positions dynamically.
  • Updates the servo positions based on the calculated values.

Usage

1. Power On: Connect the STM32 to a power source.
2. Initialize: The system will initialize the peripherals and start the FreeRTOS scheduler.
3. Run: The MainTask and CalcTask will start executing according to their priorities and scheduling.

Power Diagram

Communication Diagram

Troubleshooting

• Task Starvation: Ensure that the priorities of MainTask and CalcTask are set appropriately to avoid task starvation.
• Sensor Data: Verify that the sensor data is being read correctly and is within expected ranges.
• PID Tuning: Adjust the PID gains in CalcFunc to achieve stable balancing.
• Step Hieght: Adjust the Step Hieght in Freertos.c to control the height of the step.

Acknowledgments

• FreeRTOS for providing a robust real-time operating system.
• STMicroelectronics for the STM32 microcontroller and development tools.