Steven Dirth

Projects

Asteroid - Cardinal Space Mining @ Iowa State University

September 2017 - March 2019

Asteroid is a cross-platform application for controlling CSM robots. Features include

• An intuitive user interface
• XBox controller support
• Dynamic addition of sensor widgets
• Windows and Linux compatibility, including cross-compiling support through mingw
• Utilizes shared code with Pavonis (our main robot code) via git submodules
• Extensive generated documentation via Doxygen, Gitlab-CI, and CSM's server (courtesy of ISU)

Asteroid is written primarily using the Qt framework and is compiled using qmake. It also uses the boost C++ libraries to share code with Pavonis. The yaml-cpp library is used for configuration files and QJoysticks to support XBox controllers.

Pavonis - Cardinal Space Mining @ Iowa State University

December 2017 - May 2018

Pavonis is the code that handles the majority of the control of our robot. Features include:

• A human-readable config file for on-the-fly changes
• Serial control of motors with PWM as a backup
• Serial communication with custom Arduino-compatible PCBs to facilitate distributed sensing
• Dynamic port assignment
• Cross compiled for a zynq development board
• Logging of sensor data for testing purposes
• Shared code with Asteroid through git submodules

Pavonis is primarily developed using the boost libraries and compiled using make. Our makefile supports multiple targets and includes dummy peripherals when not built for the zynq development board. Pavonis uses the yaml-cpp library for it's config file.