Micromouse firmware

This repository hosts the STM32CubeIDE firmware for a micromouse running on an STM32F401CCU6-based board. The code balances Cube-generated peripherals with bespoke control and sensor modules so the robot can run velocity, heading, and wall-following behaviors under a single control loop.

Structure

• micromouse/: STM32CubeIDE project; Core/ holds startup, HAL configuration, and main.c, while the rest of the folder contains the bespoke control, sensor, and utility modules.
• micromouse/Drivers/VL53L0X/: official ST drivers for the dual VL53L0X time-of-flight sensors on I2C1 and I2C2.
• Test Projects/: archival or experimental branches of the firmware that are not required for the current build.

What the firmware covers

• Peripheral initialization for GPIO, dual I2C, UART2, TIM1/TIM4 encoders, TIM2 PWM (two channels), and TIM10-driven control timing.
• Sensor bring-up, calibration, and measurement for both VL53L0X modules alongside encoder feedback to monitor wheel velocities.
• Control loop logic that generates translational/angular requests, applies PID regulators, and toggles wall-following or heading correction modes as needed.

Building and flashing

1. Open micromouse/micromouse.ioc in STM32CubeIDE.
2. Inspect or regenerate peripheral settings if you update the .ioc; CubeIDE will keep the Core/ and Drivers/ folders aligned.
3. Build and flash through STM32CubeIDE (ST-Link). There is no automated CLI build in this repo.

Reviewer notes

• Focus on micromouse/Core/Src/main.c and the custom control/sensor modules when following the control path; most other folders are Cube-generated or legacy.
• The other debug launch file (micromouse Debug.launch) already targets the renamed project; it is sufficient for standard debugging workflows.
• This README keeps the story tight so GSoC reviewers can judge capabilities, structure, and build steps with minimal scanning.

License

See LICENSE.