Dribbler board

The Dribbler board has 2 functions, grab/catch the ball with the dribbler and detect if it has the ball via a blinking Infrared LED.

Following the main function, the first function that gets executed is the init() function in the dribbler_board.c. This function will initialize the peripherals, dribbler and ballsensor, followed by initializing the CAN bus. Once these are initialized, the board then loops over checking if a command over CAN bus has arrived and if the dribbler has the ball.

Here we give a short overview of all the files and task they are part of.

• dribbler_board.c contains all the loops and calls to functions for initialize, MCP and callbacks.
• ballSensor.c everything related to the ballsensor, in particular the IR LED and IR receiver.
• dribbler.c everything related to the motor that spins the dribbler, with related functions for the motor driver
• tim_util.c all timers that are used as well as timers related to PWM, defined in the header version
• gpio_util.c this is currently for LED's, two normal LED's and an IR LED
• AC_DC_util.h pins related to analog and digital conversion, no functions are defined only for defining identifiers related to these pins
• peripheral_util.h here we define the identifier for the UART pin
• logging.c everything related to UART communication between robot and laptop

• Standard message related to the board being alive, this is sent after the ballsensor and dribbler are initialized, such that we send the state of the board.
• Currently the dribbler is only set to a fixed speed, which is then controlled through the appropriate control function. Hence no code related