After developing the preceding connections, we can program the Launchpad using the Energia IDE (http://energia.nu/). After setting Energia IDE on the PC (Ubuntu is preferred), we can flash the robot firmware to the board. We will get the firmware code and the ROS interface package by using the following command:
$ git clone https://github.com/qboticslabs/Chefbot_ROS_pkg
The folder contains a folder called tiva_c_energia_code, which has the firmware code that flashes to the board after compilation in Energia IDE. The firmware can read the encoder, ultrasonic sensor, and IMU values, and can receive values of the motor velocity command. The important section of the firmware is discussed here. The ...
