Robo-ARM

A simple robot arm, running on nRF52840 and Zephyr.

Getting Started

Before getting started, make sure you have a proper Zephyr development environment. Follow the official Zephyr Getting Started Guide.

Initialization

The first step is to initialize the workspace folder (workspace).

Run the following command:

# initialize workspace for Robo-ARM (main branch)
west init -m https://github.com/seankyer/Robo-ARM --mr main workspace
# update Zephyr modules
cd workspace
west update

nRF Toolchain Installation

Ensure you have Nordic commandline tools installed so you can make use of the west flash command later.

Install:

1. nRF command line tools

2. JLink

Building and running

To build the application, run the following command:

cd example-application
west build -b nrf52840dk/nrf52840 app

Once you have built the application, run the following command to flash it:

west flash

Testing

Debug workflow for pathfinding algorithm is to run on native_sim.

west pathfind

Which will build for native_sim and output a pathfind.txt which is then parsed by matplotlib in Python.

Other tests exists for linear algebra library and servo driver under the /tests directory.

Example output of west pathfind