Introduction

This project utilizes the Pololu Romi Robot development kit as a starting point. To communicate with the Romi hardware, a cooperative-multitasking scheduler is implemented in MicroPython. The MicroPython code operates on a NUCLEO-L476RG board from ST Microelectronics and interfaces with a Shoe of Brian device, which allows us to flash code to the NUCLEO via a USB connection.

This project was completed in a 10-week span in a course lab format. Weekly deliverables typically consisted of configuring a hardware component for a simple task to be later applied to the overall goal of completing the obstacle course. Examples of intermittent deliverables include derived motor parameters, the incorporation of an IR sensor to follow a circular path, and the implementation of an IMU to continuously orient Romi to face north.