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ROSMASTER R2📖
1.Preparation and First Trial
  • 1.1 Accessories introduction
  • 1.2 Precautions for battery
  • 1.3 First Trial
2.Assembly steps
  • Installaction Video
3.ROS1-Remote control course
  • 3.1 APP remote control
  • 3.2 Model aircraft remote control
  • 3.3 Handle remote control
4.ROS1-Hardware course
  • 4.1 About expansion board_V3.0
  • 4.1 About expansion board_V1.0
  • 4.2 STM32 Development environment
  • 4.3 Button to control the buzzer to whistle
  • 4.4 FreeRTOS application
  • 4.5 Serial communication
  • 4.6 SBUS model aircraft remote control
  • 4.7 CAN bus communication
  • 4.8 RGB colorful light bar
  • 4.9 Timer interrupt to control PWM servo
  • 4.10 Control serial port servos
  • 4.11 Nine-axis attitude sensor to obtain data
  • 4.12 Control motor
  • 4.13 Timer captures the encoder data
  • 4.14.1 Kinematic Analysis of Mecanum Wheel
  • 4.14.2 Kinematics Analysis of Ackermann Car
  • 4.15 PID control robot movement
5.ROS1-Basic course
  • 5.1 Update the firmware
  • 5.2 Turn off the self-starting process at startup
  • 5.3 Install the Rosmaster driver library
  • 5.4 Buzzer whistle
  • 5.5 Control PWM servo
  • 5.6 RGB colorful light bar special effects display
  • 5.7 Control motor
  • 5.8 Control robot movement
  • 5.9 Control Serial Servo
6.ROS1-Linux operating system
  • 6.1 Virtual machine installation and use
  • 6.2 Linux basics
  • 6.3 Remote control
  • 6.4 Multi-machine communication configuration
  • 6.5 Static IP and hotspot mode
  • 6.6 Bind the device ID
  • 6.7 Web page real-time monitoring
  • 6.8 Expansion tutorial
  • 6.9.1 Jetson Nano write sytem
  • 6.9.2 Jetson Xavier NX write system
  • 6.9.3 Jetson TX2 NX write system
  • 6.9.4 Raspberry Pi write system
7.ROS1-Docker-pi5
  • 1、Docker overview and docker installation
  • 2、Common commands for docker image containers
  • 3、Docker images deeply understand and publish images
  • 4、Docker hardware interaction and data processing
  • 5、Enter the bot's docker container
  • 6、Robot development environment construction in Docker
  • 7、How customers can update docker images in the future
8.ROS1-ROS basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
9.ROS1-OpenCV courses
  • 9.1 Getting started with Open Source CV
  • 9.2 Geometric transformation
  • 9.3 Image processing and drawing text line segments
  • 9.4 Image beautification
  • 9.5 Opencv application
  • 9.6 AR vision
  • 9.7 AR QR code
  • 9.8 ROS+Opencv foundation
  • 9.9 ROS+Opencv application
  • 9.10 Data transformation and point cloud
  • 9.11 MediaPipe development
10.ROS1-Robot control course
  • 10.1 PID algorithm theory
  • 10.2 Robot PID debugging
  • 10.3 Robot information release
  • 10.4 Robot keyboard control
  • 10.5 Robot handle control
  • 10.6 Robot state estimation
  • 10.7 Robot calibration
  • 10.8 Robot URDF model
11.ROS1-Depth camera course
  • 11.1 How to use the Astra camera
  • 11.2 Astra camera calibration
  • 11.3 Astra Color Tracking
  • 11.4 Astra Object Tracking
  • 11.5 Visual tracking autopilot
  • 11.6 Pure visual 2D mapping and navigation
  • 11.7 RTAB-Map 3D mapping navigation
  • 11.8 ORB_SLAM2 basics
  • 11.9 ORB_SLAM2_Octomap
12.ROS1-Lidar course
  • 11.1 Lidar basic-SLAM
  • 11.1 Lidar basic-EAI
  • 11.2 Lidar avoiding
  • 11.3 Lidar guard
  • 11.4 Lidar follow
  • 11.5 Patrol game
  • 11.6 gmapping mapping
  • 11.7 hector mapping
  • 11.8 karto mapping
  • 11.9 cartographer mapping
  • 11.10 rrt_exploration mappin
  • 11.11 AMCL
  • 11.12 Navigation and avoiding
  • 11.13 APP mapping and navigation
  • 11.14 TEB path planning algorithm
13.ROS1-Multi-robot control course
  • 13.1 Multi-machine handle control
  • 13.2 Multi-machine navigation
  • 13.3 Multi-machine formation
  • 13.4 Multi-machine surround
14.ROS1-Deep learning courses
  • 14.1 KNN recognizes handwritten digits
  • 14.2 Basic use of TensorFlow
  • 14.3 Basic use of PyTorch(jetson)
  • 14.4 yolov5 model training(jetson)
  • 14.5 yolov5+tensorrt acceleration(jetson)
  • 14.6 yolov4-tiny
15.ROS1-Voice control courses
  • 15.0 How to use old voice module in new image
  • 15.1 Introduction of voice control module-NEW
  • 15.2 Voice control module port binding-NEW
  • 15.1 Introduction of voice control module-Old
  • 15.2 Voice control module port binding-Old
  • 15.3 Voice control car movement
  • 15.4 Voice control Autopilot
  • 14.5 Voice control color recognition
  • 15.6 Voice control color tracking
  • 15.7 Voice control multi-point navigation
16.ROS1-Model training Autopilot
  • 16.0 ReadMe
  • 16.1 yolov5 to train traffic signs
  • 16.2 TensorRt acceleration identification mark
  • 16.3 Road sign indication function description
  • 16.4 Collect data
  • 16.5 Training model
  • 16.6 Model transformation and application
  • 16.7 AI Autopilot
17. ROS2-Remote control course
  • 1. APP remote control
  • 2. Model aircraft remote control
  • 3. Handle remote control
18.ROS2-Hardware course
  • 1. Expansion board introduction_V3.0
  • 1. Expansion board introduction_V1.0
  • 2. STM32 development environment build
  • 3. Key control buzzer sounding
  • 4. FreeRTOS applications
  • 5. Serial communication
  • 6. SBUS model airplane remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt control PWM servos
  • 10. Control serial servos
  • 11. Nine-axis attitude sensor acquires data
  • 12. Control motor forward and reverse
  • 13. Timer Capture Encoder Data
  • 14. Theory of Robot Kinematics Analysis
  • 14.1.Mecanum wheel
  • 14.2.Ackerman
  • 14.3.4WD
  • 15. PID control of robot motion
19. ROS2-Basic course
  • 1. Update the firmware of the expansion board
  • 2.Close the large self-starting program at boot
  • 3. Install Rosmaster driver library
  • 4. Buzzer sounding
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects show
  • 7. Control motor forward and reverse
  • 8. Controlling robot motion
  • 9. Control serial servos
20. ROS2-Linux operating systemnew
  • 01. Virtual Machines
  • 02. Linux Basics
  • 03. Remote control
  • 04. Multi-computer communication configuration
  • 05. Static ip and hotspot mode
  • 06. Bind device ID
  • 07.Webpage real-time monitoring
  • 08. Expansion Tutorial
  • 09-1.Jetson Nano write system file
  • 09-2. Raspberry Pi write system file
  • 09-3.Orin write system
  • 10.Jetpack old system upgraded to SUPER systemnew
21.ROS2 -Docker(Nano Pi)
  • 1. docker overview and docker installation
  • 2. docker image container common command
  • 3. docker image in-depth understanding and publishing images
  • 4. docker hardware interaction and data processing
  • 5. Enter the docker container of the robot
  • 6. docker in the robot development environment build
  • 7. Customer's method of updating docker images in the future
22.ROS2- ROS2 Basic Tutorial
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 Rqt Toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
23. ROS2-Robot control course
  • 1. PID algorithm theory
  • 2. Robot information release
  • 3. Robot control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
24. ROS2-Lidar course
  • 1-1. Introduction and use of SLAM lidar
  • 1-2. Introduction and use of 4ROS lidar
  • 2. Lidar obstacle avoidance fun gameplay
  • 3. Lidar tracking fun gameplay
  • 4. Patrol function play
  • 5. gmapping map building algorithm
  • 6. cartographer building algorithm
  • 7. Navigation and obstacle avoidance
  • 8. Rosmaster_R2 using the app to build maps
  • 9. Rosmaster_R2 navigating with the app
25. ROS2-OpenCV courses
  • 1. opencv basic course
  • 2. ROS+opencv application
  • 3. QR code creation and recognition
  • 4. AR Vision
  • 5. mediapipe fun gameplay
  • 6. Patrol line autopilot
26. ROS2-Depth camera courses
  • 1. Depth camera use
  • 2. Camera calibration
  • 3. Color tracking
  • 4. KCF object tracking
  • 5. ORB_SLAM2 Basics
  • 6. ORB_SLAM2 PCL mapping
  • 7. ORB_SLAM2 Octomap mapping
  • 8. RTAB-Map 3D mapping navigation
27.ROS2- Voice control courses
  • 0. How to use old voice module in new image
  • 1.1 Introduction to the module-New
  • 1.2 Voice Control Module Port Binding-New
  • 1.3 Introduction to the module-Old
  • 2. Voice control car movement
  • 3. Voice control autopilot
  • 4. Voice control color recognition
  • 5. Voice control color tracking
  • 6. Voice control multi-point navigation
28.Deep learning courses(SUPER)
  • 1.KNN recognizes handwritten digitsnew
  • 2.Basic use of TensorFlownew
  • 3.Basic use of PyTorch(jetson)new
  • 4.YOLOv11Model conversion(SUPER)new
  • 5.YOLOv11Dataset annotation(SUPER)new
  • 6.YOLOv11Model conversion + tensorrt acceleration(SUPER)new
  • 7.YOLOv11Object recognition(SUPER)new
29. ROS2-Multi-robot control
  • 1. Multi-robot control
  • 2. Multi-robot navigation
LLM tutorial
1.Development environment
  • 0. Model usage instructions
  • 1.Environments deployment
  • 2.Dialogue platform installation
2.Jetson Nano B01
  • 1.Qwen2 model
  • 2.TinyLlama model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.Orca Mini model
  • 6.StarCoder2 model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA-Phi3
3.Jetson Orin NXNANO
  • 1.Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Codellama model
  • 7.DeepSeek-R1 model
  • 8.Orca Mini model
  • 9.StarCoder2 model
  • 10.TinyLlama model
  • 11.Expand LLaVA
  • 12.Expand LLaVA-Phi3
4.Raspberry Pi 5B
  • 1.Meta AI Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Meta AI Codellama model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA
FAQ
  • 1.Using your own Jetson board, car cannot start normally
Download
  • RemoteCtrl_APP(iOS/Android)
  • Mapping_APP(iOS_Android)
  • Instruction Manual
  • SystemFile_ROS1
  • SystemFile_ROS2
  • SystemFile_ROS2_OrinNANOSUPER
  • SystemFile_ROS2_OrinNXSUPER
  • VM software
  • Code
  • Jetson_Boot_USB.tar.gz
  • Autopilot Annex
  • Other_Annex_File
  • LLM_SystemFile
  • ROS2_Basic_VM
Download ZIP

Welcome to ROSMASTER R2 repository

4.8 RGB colorful light bar

8. RGB colorful light bar

8. RGB colorful light bar 8.1. Purpose of the experiment 8.2. Configuration pin information 8.3. Analysis of the experimental flow chart 8.4. core code explanation 8.5. Hardware connection 8.6. Experimental effect

8.1. Purpose of the experiment

Use the SPI communication of STM32 to simulate the communication protocol of the WS2812B module, and drive the RGB light bar to display the effect.

8.2. Configuration pin information

  1. Import the ioc file from the Beep project and name it RGB_Strip.

According to the schematic diagram, the pin connected to the RGB light bar is PB5. The driving method of the RGB light bar can use the timer PWM output or SPI output. The PB5 pin supports redefinition as the timer PWM or SPI output. Considering the subsequent timer conflict, the SPI communication method is used to drive the RGB light bar.

image-20220310121200684

  1. Set the mode of SPI3 to Transmit Only Master, so that the PB5 pin will be automatically set to SPI3_MOSI.

image-20220310121657636

  1. Modify the parameters of data sent by SPI3, refer to the following pictures for specific parameters.

image-20220310122044198

  1. Add DMA settings for SPI3_TX.

image-20220310122201542

8.3. Analysis of the experimental flow chart

image-20220519102300488

8.4. core code explanation

  1. Create new bsp_rgb.h and bsp_rgb.c, and add the following content to bsp_rgb.h:

image-20220310122940996

Among them, the ws2812_t structure is used to store the cache data of the light bar.

  1. Create the following content in the bsp_rgb.c file: According to the communication protocol of WS2812, use the three bits of SPI to simulate one bit of WS2812. When the value of the SPI output three bits is 0b110, it corresponds to the high level of WS2812, and when the SPI output three bits are 0b100, it corresponds to the low level of WS2812.

image-20220310141349255

  1. The WS2812_Set_Color_One() function sets the color value of a single RGB lamp, index=[0, MAX_RGB-1], RGB=[0x00000000, 0x00FFFFFF], the arrangement of RGB values: red is at the front, green in the middle, and blue at the end.

image-20220310140859723

  1. RGB_Set_Color(index, r, g, b) and RGB_Set_Color_U32(index, color) set the color value of the RGB light bar, index=[0, MAX_RGB-1] controls the color of the corresponding light beads, and index=255 controls the color of all light beads.

image-20220310142550074

image-20220310142255241

  1. RGB_Clear() clears the RGB light cache.

image-20220310142722177

  1. The RGB_Update() function refreshes the color of the RGB light bar. After changing the color of the RGB lamp, you must call the RGB_Update() function to refresh the display, otherwise the product will not work.

image-20220310142814164

  1. Send data using SPI3 DMA.

image-20220310143105281

8.5. Hardware connection

Since the RGB light bar needs to be connected to the position of the RGB light bar on the expansion board, the interface has been set to prevent reverse connection, and you can find the interface and insert it in the correct direction.

image-20220326173802535

8.6. Experimental effect

After the program is programmed, the LED light flashes once every 200 milliseconds, and the RGB light bar will display red, green, and blue in sequence, switching a color every 500 milliseconds.

CAN bus communication
Timer interrupt to control PWM servo

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