Maze Robot - Hardware setup
Hardware setup.
If not done so already, install MRMS_ESP32.ino. Make sure that setup() function looks like this:
void setup() {
robot = new RobotMaze(); // RobotLine, RobotSoccer, or Your custom robot
robot->run();
}
. Notice "RobotMaze()" part. It must be RobotMaze, not RobotLine or some other choice.
Checking hardware
You can connect now all the CAN Bus devices.
Start from
MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) and continue chaining any way You like. Each CAN Bus node should have unique address.
If Your sensors are not prepared yet, use this page to see the procedure.
Start MRM_ESP32.ino and open Arduino monitor. Program displays all the predefined commands.
You can use them to check Your sensors and motors.
Type "can" again in the input box above the displayed text and hit "Send" button.
The result will be a list of all the CAN Bus devices in Your robot.
If some are missing, they are probably incorrectly wired.
Enter command "li2" and watch lidars displaying distances in mm.
Stop display by entering command "x".
Test the motors using command "mot".
Every motor should be rotating a little in one direction and then in the opposite.