Initial code for steering controller

microcontroller_code/drivetrain_steering_node/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

microcontroller_code/drivetrain_steering_node/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

microcontroller_code/drivetrain_steering_node/README.md

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+# drivetrain_steering_node
+
+PlatformIO + Arduino framework project for controlling the steering stepper motors on _La Princesa_. Runs on a Pi Pico controlling 4 DRV8825 drivers (one driver for each wheel).
+
+Will eventually use micro ROS like the 'MotorTest' node does but for now has rough test code to verify that the steppers work.

microcontroller_code/drivetrain_steering_node/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

microcontroller_code/drivetrain_steering_node/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

microcontroller_code/drivetrain_steering_node/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+
+[platformio]
+default_envs = rpipicow
+
+
+
+[env]
+framework = arduino
+; upload_port = /dev/ttyACM0
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+; Micro-ROS configuration
+board_microros_transport = serial
+board_microros_distro = ${sysenv.ROS_DISTRO}
+monitor_speed = 921600
+; monitor_port = /dev/ttyACM0
+lib_deps =
+    PaulStoffregen/Time
+    https://github.com/RobTillaart/DRV8825
+    adafruit/Adafruit Motor Shield V2 Library@^1.1.4
+build_flags =
+    '-D LOCAL_MAC={ 0xAA, 0xBB, 0xCC, 0xEE, 0xDD, 0xFF }'
+    '-D LOCAL_IP={ 192, 168, 1, 101 }'
+    '-D AGENT_IP={ 192, 168, 1, 100 }'
+    '-D AGENT_PORT=8888'
+    '-D WIFI_SSID="wifi_ssid"'
+    '-D WIFI_PASSWORD="wifi_password"'
+
+[env:rpipico]
+framework = arduino
+monitor_speed = 115200
+; monitor_port = /dev/ttyACM0
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = rpipico
+board_build.core = earlephilhower
+lib_ldf_mode = chain+
+#enable serial.begin
+build_flags = -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
+
+[env:rpipicow]
+framework = arduino
+monitor_speed = 115200
+; monitor_port = /dev/ttyACM0
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = rpipicow
+board_build.core = earlephilhower
+lib_ldf_mode = chain+
+#enable serial.begin
+build_flags = -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
+
+[env:rpipico2w]
+framework = arduino
+monitor_speed = 115200
+; monitor_port = /dev/ttyACM0
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = rpipico2
+board_build.core = earlephilhower
+lib_ldf_mode = chain+
+#enable serial.begin
+build_flags = -D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
+
+
+[env:uno]
+platform = atmelavr
+board = uno
+monitor_speed = 115200
+
+[env:megaatmega2560]
+platform = atmelavr
+board = megaatmega2560
+
+[env:teensy41]
+board = teensy41
+framework = arduino
+upload_protocol = teensy-cli
+monitor_speed = 115200
+lib_deps =
+    https://github.com/micro-ROS/micro_ros_platformio
+    PaulStoffregen/Time
+    micro_ros_arduino
+    https://github.com/micro-ROS/micro_ros_arduino.git
+    adafruit/Adafruit Motor Shield V2 Library@^1.1.4
+build_flags =
+    -D ARDUINO_ARCH_TEENSY
+
+[env:teensy40] 
+board = teensy40
+
+[env:teensy36]
+board = teensy36
+
+[env:teensy35]
+board = teensy35
+
+[env:teensy31] 
+board = teensy31
+
+[env:dev] 
+board = teensy40
+build_flags = 
+    -I ../config
+    -D USE_DEV_CONFIG
+
+[env:vattenkar] 
+board = teensy40
+build_flags = 
+    -I ../config
+    -D USE_VATTENKAR_CONFIG

microcontroller_code/drivetrain_steering_node/src/main.cpp

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+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+// #include "Adafruit_MS_PWMServoDriver.h"
+
+Adafruit_MotorShield AFMS; 
+Adafruit_StepperMotor *myMotor;
+Adafruit_StepperMotor *myMotor2;
+
+
+void setup() {
+  Serial.begin(115200);
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, HIGH);
+
+  delay(5000); // delay so i can see logs :p
+
+  Serial.println("Setting up Wire");
+
+  Wire.setSDA(0);  
+  Wire.setSCL(1);
+  Wire.begin();
+
+  Wire.setClock(100000);  // 100 kHz instead of 400 kHz (default)
+
+  AFMS = Adafruit_MotorShield();
+  bool success = AFMS.begin(1600, &Wire);
+  if (!success) {
+    Serial.println("Could not find Motor Shield. Check wiring.");
+  }
+  else {
+    Serial.println("Motor Shield found");
+  }
+
+  myMotor = AFMS.getStepper(200, 1);
+  myMotor2 = AFMS.getStepper(200, 2);
+  myMotor->setSpeed(15);
+  myMotor2->setSpeed(15);
+  Serial.println("Setup complete");
+
+}
+
+void loop() {
+  myMotor->onestep(FORWARD, SINGLE);
+  // myMotor2->onestep(FORWARD, SINGLE);
+
+  // Serial.println("Stepping forward");
+  // digitalWrite(LED_BUILTIN, HIGH);
+  // myMotor->step(1000, FORWARD, SINGLE);
+  // myMotor2->step(1000, FORWARD, SINGLE);
+  // Serial.println("Stepping backward");
+  // digitalWrite(LED_BUILTIN, LOW);
+  // myMotor->step(1000, BACKWARD, SINGLE);
+  // myMotor2->step(1000, BACKWARD, SINGLE);
+
+
+  // Serial.print("Step time: ");
+  // Serial.println(millis());
+  delay(10);
+}
+

microcontroller_code/drivetrain_steering_node/src/main.cpp_real

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+#include <Arduino.h>
+// currently using this library: https://github.com/RobTillaart/DRV8825/tree/master?tab=readme-ov-file
+// I considered using this library: https://github.com/laurb9/StepperDriver but the current one is working fine so far
+#include "DRV8825.h"
+
+DRV8825 frontLeftSteeringMotor;
+DRV8825 frontRightSteeringMotor;
+DRV8825 backLeftSteeringMotor;
+DRV8825 backRightSteeringMotor;
+
+/*
+Pins connected to the Pico on the protoboard as of 2/25/2026 according to Pablo.
+NOTE: GP pins are NOT the same as the physical pin numbers on the Pico.
+use https://pico.pinout.xyz as a reference for mapping GP pins to physical pins.
+  -------------------------------------------------------------
+  - GP 2/3: direction + step for the first stepper driver
+  - GP 4/5: direction + step for the second stepper driver
+  - GP 6/7: direction + step for the third stepper driver
+  - GP 8/9: direction + step for the fourth stepper driver
+
+  - GP 10/11: sleep + reset for the fourth stepper driver
+  - GP 12/13: sleep + reset for the third stepper driver
+  - GP 14/15: sleep + reset for the second stepper driver
+  - GP 18/17: sleep + reset for the first stepper driver
+*/
+
+#define UNUSED_PIN 255
+void setup() {
+  // The motor to stepper driver assigments are probably wrong but the sets of pins for each stepper driver should be mostly correct (needs further testing).
+  // So far we have only tested the back left steering motor, shich is connected to the first stepper driver.
+  backLeftSteeringMotor.begin(2, 3, UNUSED_PIN, 18, 17);
+  frontRightSteeringMotor.begin(4, 5, UNUSED_PIN, 14,15);
+  frontLeftSteeringMotor.begin(6, 7, UNUSED_PIN, 12,13);
+  backRightSteeringMotor.begin(8, 9, UNUSED_PIN, 18,17);
+
+  backLeftSteeringMotor.setStepPulseLength(50);
+  frontLeftSteeringMotor.setStepPulseLength(50);
+  backRightSteeringMotor.setStepPulseLength(50);
+  frontRightSteeringMotor.setStepPulseLength(50);
+
+
+
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+bool moveCW = true;
+
+void loop() {
+  bool ledStatus = moveCW;
+  digitalWrite(LED_BUILTIN, ledStatus ? HIGH : LOW);
+
+  if(moveCW) {
+    frontLeftSteeringMotor.setDirection(DRV8825_CLOCK_WISE);
+    frontRightSteeringMotor.setDirection(DRV8825_CLOCK_WISE);
+    backLeftSteeringMotor.setDirection(DRV8825_CLOCK_WISE);
+    backRightSteeringMotor.setDirection(DRV8825_CLOCK_WISE);
+  } else {
+    frontLeftSteeringMotor.setDirection(DRV8825_COUNTERCLOCK_WISE);
+    frontRightSteeringMotor.setDirection(DRV8825_COUNTERCLOCK_WISE);
+    backLeftSteeringMotor.setDirection(DRV8825_COUNTERCLOCK_WISE);
+    backRightSteeringMotor.setDirection(DRV8825_COUNTERCLOCK_WISE);
+  }
+
+  if (frontLeftSteeringMotor.getSteps() > 1000) {
+    moveCW = !moveCW;
+    frontLeftSteeringMotor.resetSteps();
+  }
+
+
+  frontLeftSteeringMotor.step();
+  frontRightSteeringMotor.step();
+  backLeftSteeringMotor.step();
+  backRightSteeringMotor.step();
+
+  Serial.print("FL,"); Serial.print(frontLeftSteeringMotor.getPosition()); Serial.print(","); Serial.print(frontLeftSteeringMotor.getSteps()); Serial.print(","); Serial.print(frontLeftSteeringMotor.getStepPulseLength()); Serial.print(","); Serial.print(frontLeftSteeringMotor.getStepsPerRotation());
+  Serial.print(" FR,"); Serial.print(frontRightSteeringMotor.getPosition()); Serial.print(","); Serial.print(frontRightSteeringMotor.getSteps()); Serial.print(","); Serial.print(frontRightSteeringMotor.getStepPulseLength()); Serial.print(","); Serial.print(frontRightSteeringMotor.getStepsPerRotation());
+  Serial.print(" BL,"); Serial.print(backLeftSteeringMotor.getPosition()); Serial.print(","); Serial.print(backLeftSteeringMotor.getSteps()); Serial.print(","); Serial.print(backLeftSteeringMotor.getStepPulseLength()); Serial.print(","); Serial.print(backLeftSteeringMotor.getStepsPerRotation());
+  Serial.print(" BR,"); Serial.print(backRightSteeringMotor.getPosition()); Serial.print(","); Serial.print(backRightSteeringMotor.getSteps()); Serial.print(","); Serial.print(backRightSteeringMotor.getStepPulseLength()); Serial.print(","); Serial.print(backRightSteeringMotor.getStepsPerRotation());
+  Serial.println();
+
+  delay(1);
+
+  // one other interesting observation - stepper motor behavior changes based on whether I have the serial monitor open or not. 
+}

microcontroller_code/drivetrain_steering_node/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html