Stands for "Lunar Autonomous Mining Entity". But really, it's just an excuse to call our software LAME 😊.
The higher level control software for BLER is split into 3 distinct parts: framework, base station, and robot.
The framework houses common code required for both the base station and robot code.
The robot and base station communicate via packets. The structure is given below.
| Byte Index | 0 - 1 | 2 | 3 | 4 | 5 ... n - 1 | n |
|---|---|---|---|---|---|---|
| Description | Header (0xBEEF) | Opcode | Payload size | Payload CRC | Payload | End bytes (0x7F) |
Services are independent pieces of code that, at runtime, can be selected to run, either at regular intervals or when a packet is received. In order to mediate which services are running, each service is registered to a ServiceMaster. A client can send control packets activate/deactivating services.
The base station code is a C# WPF application. It is responsible for moderating the status of the robot and switching drive modes if necessary.
The robot code is a native C++ application. It supports (or will support!) 3 drive modes (tethered/direct, remote, and AI). It is also responsible for sending back images of the field upon base station request, and more.
You must have JoystickLibrary (https://github.com/WisconsinRobotics/JoystickLibrary) cloned in the top level, with the static C++ library copied into the top level.
mkdir build
cd build
cmake ..
cmake --build .
You will need the C# version of the aforementioned JoystickLibrary, and copy the compiled dll into the BaseStation folder. Then open the solution and build within Visual Studio.