Guppy Embedded!

Home to the embedded PCB code that runs Guppy: Palouse RoboSub's 2026 AUV for the international RoboSub competition. This code runs on the custom circuit boards we designed and assembled in-house!

Currently, the CAN base code comes from KevinOConnor/can2040.

Setup

To acquire the necessary build dependencies you can use the Dev Container or Nix.

Using the Dev Container:

1. Install an IDE which supports Dev Containers (VSCode, CLion, etc.)
2. Install picotool from your package manager or the repository
3. Build and reopen the project within the Dev Container. (IDE specific)

Using Nix:

1. Install Nix
2. Run nix-shell to enter an environment with dependencies and picotool installed

Building:

1. Make and enter a build dir: mkdir build and cd build
2. Generate build files: cmake ..
3. Compile: make

Flashing:

To start, plug in the board to your computer.

Manual (finicky)

1. Put the microcontroller into bootsel mode by holding down the RST and BOOT buttons
2. It should then connect to your computer as a storage device
3. Move board_[board-name].uf2 onto the storage

Using picotool

picotool load -f board_[board-name].uf2

You may have to manually put the microcontroller into bootsel mode if it's being uncooperative.

Organization

• /lib: Libraries (led and guppy_lib are bespoke)
• /src/modules: Board-specific code
• /src/main.cpp: Entrypoint

Contributing

To contribute code:

1. Make a new branch with the format name/feature_name such as adrian/add_status_led and make all changes in that branch.
2. Make a Pull Request to the main branch and request @guppyadrian as a reviewer.
3. Make sure all commits have proper messages starting with feat:, chore:, or fix:
4. Document and comment all of your code!
5. Ensure your code works before merging into main!

Contact and Sponsorship

Need to get in touch? Reach out to robosub.vcea@wsu.edu.

We are sponsored by many generous companies and people, including:

• OSH Park PCBs
• Blue Robotics
• Real Digital
• Solidworks
• Vectornav
• JoeScan
• WaterLinked
• LattePanda
• Tektronix
• And many many other personal supporters through their generous donations!

Do you like our work? Consider sponsoring our team!