# OpenRCore

OpenRCore ("Open Robot Core") is an open source project intended to provide a
similar development experience as FIRST Tech Challenge's [FtcRobotController](https://github.com/FIRST-Tech-Challenge/FtcRobotController)
but supporting more affordable hardware.

## Hardware Overview

OpenRCore targets the nRF52840 devkit, rather than the REV control hub. This
hardware was chosen for a few reasons:

- Cost & Availability: The nRF52 devkit is available from multiple vendors, and
runs for less than $50 USD.
- Integrated Bluetooth: The devkit comes with built-in Bluetooth, which is used
for connecting via a server control application.
- Zephyr: The devkit is intended to be used with Zephyr (what this project is
using), and is a great introduction into embedded development.
- Arduino Shield Compatible: The devkit has the same pin-out as an Arduino, so
the project can be extended to support a variety of shield peripherals.

### Hardware Support

The following hardware is targeted for a first pass at support:

- [nRF52840 Dev Kit](https://www.nordicsemi.com/Products/Development-hardware/nRF52840-DK)
    - More expensive, higher pin controller option
- [nRF52840 Dongle](https://www.nordicsemi.com/Products/Development-hardware/nRF52840-Dongle)
    - Less expensive and compact controller option
- [DFRobot 2x7A DC Motor Driver](https://www.dfrobot.com/product-1534.html)
    - For controlling the standard higher powered FTC legal DC motors
- [Adafruit Motor/Stepper/Servo Shield for Arduino v2](https://www.adafruit.com/product/1438)
    - Good for powering multiple small DC motors or stepper motors
- [Adafruit 16-Channel 12-bit PWM/Servo Shield](https://www.adafruit.com/product/1411)
    - Allows for controlling several servos while freeing up the main controllers PWM pins
- [Gravity: 10 DOF IMU](https://www.dfrobot.com/product-1793.html)
    - Intertial measurement unit to stand in place of the built-in IMU on the REV control hub

## Setup

TBD

## Usage

TBD

## Design

For information on how OpenRCore is designed, refer to the [design documentation](docs/design.md).