Develop firmware for SubjuGator 9 Actuator Board

[cbrxyz]

What needs to change?

Develop the firmware for SubjuGator 9 Actuator Board:

1. Handle receiving packets from USB (maybe use tinyUSB?)
2. Rotate the servo as necessary
3. Mark the servo as actuated in some internal data structure
4. Send a return packet

Your board will also need to support polling for the status of an actuator.

How would this task be tested?

To test, you can send packets from the sub9_actuator_board library. The listing of these packets is here: https://uf-mil.github.io/docs/subjugator/reference.html#actuatorboard.

You could use these packets like so (code not necessarily guaranteed to work):

from sub_actuator_board import ActuatorSetPacket, ActuatorPacketId
import serial

device = serial.Serial("...")
device.write(bytes(ActuatorSetPacket(ActuatorPacketId.BALL_DROP, True)))

Contacts

• [ ] We need help from the mechanical team.
• [ ] We need help from the electrical team.
• [ ] We need help from Dr. Schwartz or other faculty.
• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).