Introduction

LCS25 firmware is v1.1 for microcontroller part of Object LCS25 - algorithm testing robot. The main purpose of this project is to develop a bridging program receiving control from high level commands from ROS/ROS2 and control robot's kinematics. PS: This repo is the next version from 2nd prize robot that competed in MERC 2025 (Mechanical Engineering Robot Contest 2025) - "QUỐC SỬ DÙNG CA" by team LC Sign.

LCS25 Firmware - Project Structure

This is a PlatformIO project for an algorithm testing robot that bridges high-level ROS/ROS2 commands to robot kinematics control. The project targets multiple microcontrollers (Raspberry Pi Pico and Arduino Mega).

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Root Configuration

File	Purpose
platformio.ini	PlatformIO build configuration with 3 environments: pico_base, pico_arm, mega
README.md	Project documentation
LICENSE	License file
.gitignore	Git ignore rules
.vscode/extensions.json	VS Code extensions config

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Source Code (src/)

Path	Target	Purpose
src/Pico_base/main.cpp	Raspberry Pi Pico	Base controller firmware
src/Pico_arm/main.cpp	Raspberry Pi Pico	Arm controller firmware (commented out in config)
src/Arduino_mega/main.cpp	Arduino Mega 2560	ROS control / full system

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Libraries (lib/)

Active Libraries

Path	Description
lib/Control/Kinematic.cpp/.h	Robot kinematics algorithms
lib/Control/Pid.cpp/.h	PID controller implementation
lib/Control/Timer.h	Timer utilities
lib/Encoder/Encoder.cpp/.h	Encoder reading
lib/Motor/Motor.cpp/.h	Motor control
lib/Servo/ServoJGB.cpp/.h	JGB servo control
lib/Gcode/Gcode.cpp/.h	G-code parsing

Reference Libraries (lib/_reference_/)

• MPU6050 - IMU sensor library with DMP (Digital Motion Processor)
• I2Cdev - I2C communication
• PS2X_lib - PlayStation 2 controller interface
• Thread - Threading/scheduler library
• Auto_control_lib / Manual_control_lib - Control mode libraries
• ROS_control - ROS integration headers

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Headers (include/)

Path	Purpose
include/Config.h	Main configuration
include/Pico_base/PICO_Base.h	Pico base definitions
include/Pico_arm/PICO_Arm.h	Pico arm definitions
include/Arduino_mega/ROS_control/	ROS control headers

Test Headers (include/test_*/)

• test_FeedbackLoop/ - Component tests (Communication, Encoder, Motor, PID, Servo, Wheel)
• test_Kinematic/ - Kinematics algorithm tests
• test_Timer/ - Timer tests

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Resources (res/)

• CSstate1.png / CSstate2.png - Control system state diagrams

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Tests (test/)

Path	Description
test/test_mega/	Arduino Mega tests (MPU6050, FullSystem)
test/test_PicoSerial/	Pico serial communication tests
test/temp/	Temporary test files

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Build Environments (platformio.ini)

[env:pico_base]   # Raspberry Pi Pico - Base (active, COM4)
[env:pico_arm]    # Raspberry Pi Pico - Arm (commented out, COM8)
[env:mega]        # Arduino Mega 2560 (active, COM5)

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Key Features

1. Multi-platform: Supports Raspberry Pi Pico (RP2040) and Arduino Mega 2560
2. Control modes: Auto control, Manual control (PS2), ROS control
3. Sensors: MPU6050 IMU with DMP for orientation
4. Communication: I2C, Serial (including ROS serial)
5. Control algorithms: Kinematics, PID feedback loops
6. Actuators: Motors, Servos (JGB)

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Sources:

• platformio.ini
• README.md
• lib/Control/Kinematic.h
• include/Config.h
• src/Pico_base/main.cpp

CS state #1:

CS state #2:

CS state #3:

Note

• The code is not maintained properly so running might cause some errors. PLease check for dependences before proceeding the flash.

Code References

• https://github.com/industrial-robotics-lab/OmniCar-arduino
• https://www.circuitstate.com/pinouts/raspberry-pi-pico-rp2040-microcontroller-board-pinout-diagrams/#IC_Pinout
• https://github.com/linorobot/linorobot/