Software for modules

Radio module

This Arduino sketch is dedicated to radio control. It is kept simple and separate so that it can be easily upgraded with other, longer-range radio modules without interfering with the other modules.

GPS module

This sketch is dedicated to the GPS positioning system. It is kept stand-alone to keep the code simple and non-blocking, without complex logic.

Sensors / motors module

This Arduino sketch is in charge of the general movement tasks and most of the sensing — controlling motors and servos and reading data from sensors on the analog/digital pins. It also receives and forwards data from the AUX sensor board to the Raspberry Pi.

Auxiliary I2C sensors module

This sketch allows the whole system to read data from sensors over I2C. Since all communication between the MCP and the MCUs is I2C, and the MCP acts as the master, an MCU cannot be configured as both slave and master at the same time. This is why we use the AUX module, which is connected via Serial and can then serve as the master. It is usually used with an Arduino Nano, because the Nano has a 3V pin alongside the 5V pin.

Additional I2C sensors are then added to this sketch.

Arduino IDE

The easiest way to flash the Arduinos with the required sketches is to use the Arduino IDE.