WolfieMouse is a robotics project to build a micromouse. This project covers three parts:

• Robotics algorithm for maze solving (C++)
• low-level hardware driver software (C and ARM assembly)
• Tools to capture and plot robot's sensor data (Python)
• Embedded hardware design and PCB design (KiCad, an open-source alternative to Altium)

This robot won:

• The Special Mention Award in 2018 IEEE Region 1 Micromouse Robotics Competition.
• The 3rd Place Award in 2019 IEEE Region 1 Micromouse Robotics Competition.

If you don't know what is micromouse competition, this document will help..

Requires tools:

• GNU Arm Embedded Toolchain and Makefile to build program for the robot.
• OpenOCD to upload the program to the robot and to debug.
• KiCad to design a PCB hardware.

Otherwise, a Vagrant virtual machine environment is provided to skip installing the above tools.

If you whish to start with this project, see get stared document.

See documentation section.

• doc: Documentation folder
• firmware: The robot's program folder, including robotics algorithms and hardware drivers
• simulation: Programs to test algorithms on a desktop computer
• tools: Contains robot sensor data capturing tools and scripts for Vagrant machine.

Terminal-based simulation program. M stands for the position of the robot, D stands for the position of the goal in the maze, and S stands for the starting position.

Schematic overview.

PCB Footprint overview.

Source code in firmware and simulation folders are licensed under GPLv2.1.

External libraries (FreeRTOS, CMSIS, STM32F4 HAL) under firmware/lib follow their own terms.

The fundamental hardware design is inspired by Project Futura by Green Ye.