Romeo (RObot MOwEr) is a lawn mower DIY project, inspired by Ardumower. It uses the Simba microkernel and build system instead of the Arduino IDE and libraries.

The goal of the project is to create a simple lawn mower for my tiny garden of 10 m2, but it will not be limited to that size.

Control and monitor the Robot and the Base station from a device of your choice, normally a PC. There is also a smartphone application to manually control the robot.

The controller Android application can set the speed and angular velocity of the robot. The application connects to the robot using the same bluetooth interface as the base station, that means only one of the two can be connected at a time.

A drawing of the planned mechanical design of the robot.

VCC and ground are not shown in the schematic.

A drawing of the planned mechanical design of the base station.

VCC and ground are not shown in the schematic.

The software is written in c and uses the Simba microkernel and build framework.

Folder structure:

-- {root}
   +-- app/
   |   +-- base_station/             - base station application
   |   +-- robot/                    - robot application
   +-- doc/                          - documentation
   +-- LICENSE
   +-- Makefile
   +-- README.md
   +-- romeo/                        - romeo package
       +-- src/                      - source code
       +-- tst/                      - test suites
       +-- tools/                    - various tools

The robot has a two level state machine.

The grey state is not part of the software state machine. It is present to give a clear picture of what happens when the power is turned on.

In the light blue states the robot can drive around in the garden.

In the white states the robot is standing still.

The robot is idle, waiting to be started manually.

The robot is starting.

The robot is driving around and cuts the grass.

The robot is searching for the base station.

The robot is in the base station.

This is the state diagram for the cutting state.

The robot is driving forward.

The robot is driving backwards.

The robot is rotating.

This is the state diagram for the searching_for_base_station state.

The robot is searching for the perimeter wire.

The robot is following the perimeter wire to the base station.

See doc/bom.ods.