OpenRCore

OpenRCore ("Open Robot Core") is an open source project intended to provide a similar development experience as FIRST Tech Challenge's 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
  • More expensive, higher pin controller option
• nRF52840 Dongle
  • Less expensive and compact controller option
• DFRobot 2x7A DC Motor Driver
  • For controlling the standard higher powered FTC legal DC motors
• Adafruit Motor/Stepper/Servo Shield for Arduino v2
  • Good for powering multiple small DC motors or stepper motors
• Adafruit 16-Channel 12-bit PWM/Servo Shield
  • Allows for controlling several servos while freeing up the main controllers PWM pins
• Gravity: 10 DOF IMU
  • 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.