LGDXRobot Logo
  1. Home
  2. LGDXRobot2
  3. Controller Board (MCU)
  4. Firmware Flashing and Usage

Firmware Flashing and Usage

The firmware can be found in the Releases page for the MCU project.

Prerequisites

Flashing

  1. Download the latest firmware from Releases page.
  2. Connect the USB-C Port on the BlackPill to the computer.
  3. Press the BOOT0 button on the BlackPill, then reset it to enter bootloader mode.
  4. Launch STM32CubeProgrammer.
  5. On the right-hand side of the window, the drop-down menu shows ST-LINK. Change it to USB and click Connect.
  6. Select Erasing & Programming from the left side of the window (arrow pointing to a device icon).
  7. Click Browse in the middle of the window and locate the firmware file (.elf).
  8. Press Start Programming.
  9. Wait for the firmware to be flashed.
  10. Close STM32CubeProgrammer and reset the BlackPill.

Usage

The robot needs to calibrate the IMU, so it must be placed on a flat surface.

  1. After powering on the controller, wait approximately 3 seconds for the calibration to complete.
  2. A clicking sound will be heard from the relay.
  3. The red LED will turn off.

Next Steps

If there are no plans to modify the firmware, skip to the ChassisTuner section.