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Blockly ROS2 Robot Controller — Documentation

Visual programming interface for controlling a ROS2 Jazzy Kiwi Wheel AMR. See readme.md for project overview and status.

Documentation Index

Topic File
System architecture & Blockly–ROS2 integration flow docs/architecture.md
Installation, directory structure & running docs/installation.md
Troubleshooting & known issues docs/troubleshooting.md
Guide: adding a new ROS2 package docs/ros2-package-guide.md
blockly_app — file reference src/blockly_app/README.md
blockly_app — creating custom blocks (full guide + reference) src/blockly_app/BLOCKS.md
blockly_executor — file reference, handlers & testing guide src/blockly_executor/README.md
blockly_interfaces — ROS2 action & message interfaces src/blockly_interfaces/README.md
gpio_node — Raspberry Pi GPIO node (C++, libgpiod) src/gpio_node/README.md
pca9685_node — PCA9685 16-channel PWM controller (C++, I2C) src/pca9685_node/README.md
as5600_node — AS5600 12-bit magnetic encoder (C++, I2C) src/as5600_node/README.md

Quick Start

Desktop (linux-64)

pixi install                  # first time only
pixi run build-interfaces     # must build interfaces first
pixi run build                # build all packages
pixi run setup-ui             # download Blockly JS vendor files (first time, needs internet)

pixi run executor             # Terminal 1 — start Action Server
pixi run app                  # Terminal 2 — start desktop GUI

Raspberry Pi (linux-aarch64)

pixi install                  # install ROS2 + deps via conda
pixi run build-gpio           # installs system deps (apt) + builds gpio_node
pixi run build-pca9685        # installs system deps (apt) + builds pca9685_node
pixi run build-as5600         # installs system deps (apt) + builds as5600_node

pixi run gpio-node            # start GPIO node
pixi run pca9685-node         # start PCA9685 PWM node
pixi run as5600-node          # start AS5600 encoder node

build-gpio, build-pca9685, and build-as5600 automatically run setup-dep which installs system libraries (libgpiod-dev, liblttng-ust-dev, i2c-tools) via apt.

See docs/installation.md for full setup and prerequisites.

Raspberry Pi GPIO Pinout

Pin yang terpakai di project ini ditandai dengan <<<.

           Raspberry Pi 40-Pin Header (BCM)

  Pin#  NAME                         NAME                Pin#
  ──────────────────────────── ● ● ────────────────────────────
   01   3.3V Power             ○ ●  5V Power              02
   03   GPIO02 (SDA1)      <<< ○ ●  5V Power              04
   05   GPIO03 (SCL1)      <<< ○ ○  Ground                06
   07   GPIO04                 ○ ○  GPIO14                08
   09   Ground                 ○ ○  GPIO15                10
   11   GPIO17           ⚠ <<< ○ ○  GPIO18                12
   13   GPIO27           ⚠ <<< ○ ○  Ground                14
   15   GPIO22           ⚠ <<< ○ ○  GPIO23            <<< 16
   17   3.3V Power             ○ ○  GPIO24                18
   19   GPIO10                 ○ ○  Ground                20
   21   GPIO09                 ○ ○  GPIO25                22
   23   GPIO11                 ○ ○  GPIO08                24
   25   Ground                 ○ ○  GPIO07                26
   27   ID_SD                  ○ ○  ID_SC                 28
   29   GPIO05             <<< ○ ○  Ground                30
   31   GPIO06             <<< ○ ○  GPIO12                32
   33   GPIO13             <<< ○ ○  Ground                34
   35   GPIO19                 ○ ○  GPIO16                36
   37   GPIO26                 ○ ○  GPIO20                38
   39   Ground                 ○ ○  GPIO21                40

Keterangan Pin Terpakai

GPIO Pin# Fungsi Node File
2 03 I2C SDA bus 1 pca9685_node + as5600_node (encoder 0) src/pca9685_node/src/pca9685_node.cpp:17 / src/as5600_node/src/as5600_node.cpp:19
3 05 I2C SCL bus 1 pca9685_node + as5600_node (encoder 0) (sama)
17 11 Digital output / I2C SDA bus 3 gpio_node output[0] / as5600_node (encoder 1) src/gpio_node/src/gpio_node.cpp:12 / /boot/config.txt
27 13 Digital output / I2C SCL bus 3 gpio_node output[1] / as5600_node (encoder 1) (sama)
22 15 Digital output / I2C SDA bus 4 gpio_node output[2] / as5600_node (encoder 2) (sama)
23 16 I2C SCL bus 4 as5600_node (encoder 2) /boot/config.txt
5 29 Digital input gpio_node input[0] src/gpio_node/src/gpio_node.cpp:13
6 31 Digital input gpio_node input[1] (sama)
13 33 Digital input gpio_node input[2] (sama)

⚠ WARNING — GPIO 17, 27, 22 duplikasi: Dipakai gpio_node (digital output) sekaligus as5600_node (I2C bit-bang bus 3 & 4). Kalau keduanya jalan bareng, ganti output_pins di gpio_node ke pin lain.