[Dprglist] NUCLEO STM32 L476RG - using micropython - .dfu files
Thalanayar Muthukumar
tnkumar at gmail.com
Fri Oct 22 22:07:52 PDT 2021
Is downloading dfu file to the NUCLEO STM32 as complicated as
https://www.youtube.com/watch?v=1r_Pyyc_6e8 ? - cutting a usb cable,
creating custom USB connector and using dfuse software? Seems complicated
Or is there a simpler way?
Regards.
- Kumar
On Fri, Oct 22, 2021 at 11:44 PM Thalanayar Muthukumar <tnkumar at gmail.com>
wrote:
> https://www.youtube.com/watch?v=VNPOWBemGqU
>
> Got my NUCLEO L476RG today and got my first Blinky work on it.
> I thought of starting with STM32CubeIDE and micropython, but could not
> figure out how to use these environments.
> Then, I came across mbed.org and was able to get the cpp program for
> blinky working.
>
> What do people use as their development environment for the STM32 boards?
> Need suggestions on what is best to use to get the best experience with
> the STM32.
>
> Every new chip has its own development environment, startup challenges
> that one needs to go through ...
>
> Regards.
> - Kumar
>
> On Fri, Oct 22, 2021 at 4:04 PM <dprglist-request at lists.dprg.org> wrote:
>
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>> Today's Topics:
>>
>> 1. Re: Fwd: Need suggestion for expansion boards for STM32 to
>> build a robot (Murray Altheim)
>> 2. Re: Fwd: Need suggestion for expansion boards for STM32 to
>> build a robot (secretary at dprg.org)
>> 3. Re: Fwd: Need suggestion for expansion boards for STM32 to
>> build a robot (deltagraph at aol.com)
>> 4. Re: Fwd: Need suggestion for expansion boards for STM32 to
>> build a robot (David P. Anderson)
>> 5. Re: Need suggestion for expansion boards for STM32 to build a
>> robot (Chris N)
>> 6. Re: Need suggestion for expansion boards for STM32 to build a
>> robot (Thalanayar Muthukumar)
>> 7. Robotic Boat (David P. Anderson)
>> 8. Re: Robotic Boat (Doug Paradis)
>>
>>
>> ----------------------------------------------------------------------
>>
>> Message: 1
>> Date: Fri, 22 Oct 2021 12:15:52 +1300
>> From: Murray Altheim <murray18 at altheim.com>
>> To: dprglist at lists.dprg.org
>> Subject: Re: [Dprglist] Fwd: Need suggestion for expansion boards for
>> STM32 to build a robot
>> Message-ID: <5712e42f-ca49-c21d-a17e-5e2a97de2293 at altheim.com>
>> Content-Type: text/plain; charset=utf-8; format=flowed
>>
>> On 22/10/21 6:08 am, Doug Paradis via DPRGlist wrote:
>> [...] An?alternative is a board laid out by club member Ron Grant. Ron's
>> board
>> > requires some more work on your part, but breaks out all the pins. It
>> is
>> > much larger than the UNO sensor shield, but has some nice features. It
>> may
>> > require having it built at a PCB company.
>> Hi Doug,
>>
>> Has Ron released the files for that board somewhere? Because nowadays it's
>> almost trivial to send a board spec off to a fab shop and have them made
>> and sent back quickly and cheaply, possibly cheaper than from Adafruit or
>> another hobbyist vendor (you may be able to buy them for roughly the cost
>> that Adafruit does as an OEM).
>>
>> Having the board files available would be a boon to the robotics
>> community,
>> as even I (!) am now looking at STM32 boards, among them the Nucleo-64s.
>>
>> Cheers,
>>
>> Murray
>>
>>
>> ...........................................................................
>> Murray Altheim <murray18 at altheim dot com> = =
>> ===
>> http://www.altheim.com/murray/ ===
>> ===
>> = =
>> ===
>> In the evening
>> The rice leaves in the garden
>> Rustle in the autumn wind
>> That blows through my reed hut.
>> -- Minamoto no Tsunenobu
>>
>>
>>
>> ------------------------------
>>
>> Message: 2
>> Date: Thu, 21 Oct 2021 19:43:38 -0500
>> From: "secretary at dprg.org" <secretary at dprg.org>
>> To: Murray Altheim <murray18 at altheim.com>
>> Cc: DPRG <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Fwd: Need suggestion for expansion boards for
>> STM32 to build a robot
>> Message-ID:
>> <
>> CAOdUW+Zz7Ze7RHo+zW9r9Y2bYBoLyvAp0cEs0sGiMG8DZbHRhQ at mail.gmail.com>
>> Content-Type: text/plain; charset="utf-8"
>>
>> Murray,
>> That would be up to Ron, he owns the files.
>> Regards,
>> Doug P.
>>
>> On Thu, Oct 21, 2021 at 6:23 PM Murray Altheim via DPRGlist <
>> dprglist at lists.dprg.org> wrote:
>>
>> > On 22/10/21 6:08 am, Doug Paradis via DPRGlist wrote:
>> > [...] An alternative is a board laid out by club member Ron Grant. Ron's
>> > board
>> > > requires some more work on your part, but breaks out all the pins. It
>> is
>> > > much larger than the UNO sensor shield, but has some nice features. It
>> > may
>> > > require having it built at a PCB company.
>> > Hi Doug,
>> >
>> > Has Ron released the files for that board somewhere? Because nowadays
>> it's
>> > almost trivial to send a board spec off to a fab shop and have them made
>> > and sent back quickly and cheaply, possibly cheaper than from Adafruit
>> or
>> > another hobbyist vendor (you may be able to buy them for roughly the
>> cost
>> > that Adafruit does as an OEM).
>> >
>> > Having the board files available would be a boon to the robotics
>> community,
>> > as even I (!) am now looking at STM32 boards, among them the Nucleo-64s.
>> >
>> > Cheers,
>> >
>> > Murray
>> >
>> >
>> ...........................................................................
>> > Murray Altheim <murray18 at altheim dot com> = =
>> ===
>> > http://www.altheim.com/murray/ ===
>> > ===
>> > = =
>> > ===
>> > In the evening
>> > The rice leaves in the garden
>> > Rustle in the autumn wind
>> > That blows through my reed hut.
>> > -- Minamoto no Tsunenobu
>> >
>> > _______________________________________________
>> > DPRGlist mailing list
>> > DPRGlist at lists.dprg.org
>> > http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org
>> >
>> -------------- next part --------------
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>>
>> ------------------------------
>>
>> Message: 3
>> Date: Fri, 22 Oct 2021 01:43:02 +0000 (UTC)
>> From: deltagraph at aol.com
>> To: "dprglist at lists.dprg.org" <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Fwd: Need suggestion for expansion boards for
>> STM32 to build a robot
>> Message-ID: <1145443002.52144.1634866982774 at mail.yahoo.com>
>> Content-Type: text/plain; charset="utf-8"
>>
>> Hello Doug / Murray,
>> Are you talking about the board I created for David Anderson?
>> I would consider that public domain if David does not mind...
>> I can probably dig up the Eagle files for it if you don't have them.
>> The board is shared on OshPark.com, but eagle (The tool I used for the
>> board layout) design files might not be present?Let me know...
>>
>> One thing is I can't remember if I used other than basic eagle license
>> version. I have some intermediate version that was about $800 back in the
>> old days (circa 2010). I think there was an academic version available at
>> the time for little money. The limitation was auto-router would not route
>> beyond a board size of about 3"x4" or so, but you could manually route
>> traces beyond that limit - which I did a few times way back around 2005.
>>
>> Getting the boards made though OshPark will be a bit expensive $72 for
>> 3.I have used Chinese company Gojgo.com for larger quantities, but OshPark
>> does have some deals there too...
>>
>> Might be other approaches building breakout boards that dock to Nucleo
>> pin headers, but do not span entire Nucleo, if that makes sense - to reduce
>> board square inches.?
>>
>> On Oshpark, search for shared project :? NucleoBot_DPA_2
>> Ron
>>
>>
>>
>>
>>
>>
>>
>> -----Original Message-----
>> From: Murray Altheim via DPRGlist <dprglist at lists.dprg.org>
>> To: dprglist at lists.dprg.org
>> Sent: Thu, Oct 21, 2021 6:15 pm
>> Subject: Re: [Dprglist] Fwd: Need suggestion for expansion boards for
>> STM32 to build a robot
>>
>> On 22/10/21 6:08 am, Doug Paradis via DPRGlist wrote:
>> [...] An?alternative is a board laid out by club member Ron Grant. Ron's
>> board
>> > requires some more work on your part, but breaks out all the pins. It
>> is
>> > much larger than the UNO sensor shield, but has some nice features. It
>> may
>> > require having it built at a PCB company.
>> Hi Doug,
>>
>> Has Ron released the files for that board somewhere? Because nowadays it's
>> almost trivial to send a board spec off to a fab shop and have them made
>> and sent back quickly and cheaply, possibly cheaper than from Adafruit or
>> another hobbyist vendor (you may be able to buy them for roughly the cost
>> that Adafruit does as an OEM).
>>
>> Having the board files available would be a boon to the robotics
>> community,
>> as even I (!) am now looking at STM32 boards, among them the Nucleo-64s.
>>
>> Cheers,
>>
>> Murray
>>
>>
>> ...........................................................................
>> Murray Altheim <murray18 at altheim dot com>? ? ? ? ? ? ? ? ? ? ? = =? ===
>> http://www.altheim.com/murray/ ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ===?
>> ===
>> ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? = =?
>> ===
>> ? ? In the evening
>> ? ? The rice leaves in the garden
>> ? ? Rustle in the autumn wind
>> ? ? That blows through my reed hut.
>> ? ? ? ? ? ? -- Minamoto no Tsunenobu
>>
>> _______________________________________________
>> DPRGlist mailing list
>> DPRGlist at lists.dprg.org
>> http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org
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>>
>> ------------------------------
>>
>> Message: 4
>> Date: Thu, 21 Oct 2021 21:17:18 -0500
>> From: "David P. Anderson" <davida at smu.edu>
>> To: <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Fwd: Need suggestion for expansion boards for
>> STM32 to build a robot
>> Message-ID: <17535899-d82e-4bfe-0e14-673b3ca150c2 at smu.edu>
>> Content-Type: text/plain; charset="utf-8"; Format="flowed"
>>
>> Ron,
>>
>> That's fine with me.? I'd probably chip in.
>>
>> Also the next-to-last version had a mistake, a pin shorted to ground.?
>> Not sure which one is the OshPark file?
>>
>> David
>>
>>
>> On 10/21/21 8:43 PM, Ron Grant via DPRGlist wrote:
>> > > */[EXTERNAL SENDER]/* > > Hello Doug / Murray, > > Are you talking
>> about the board I created for David Anderson? I would > consider that
>> public domain if David does not mind... > > I can probably dig up the
>> Eagle files for it if you don't have them. > > The board is shared on
>> OshPark.com, but eagle (The tool I used for > the board layout) design
>> files might not be present? Let me know... > > One thing is I can't
>> remember if I used other than basic eagle > license version. I have some
>> intermediate version that was about $800 > back in the old days (circa
>> 2010). I think there was an academic > version available at the time for
>> little money. The limitation was > auto-router would not route beyond a
>> board size of about 3"x4" or so, > but you could manually route traces
>> beyond that limit - which I did a > few times way back around 2005. > >
>> Getting the boards made though OshPark will be a bit expensive $72 > for
>> 3. I have used Chinese company Gojgo.com for larger quantities, > but
>> OshPark does have some deals there too... > > Might be other approaches
>> building breakout boards that dock to > Nucleo pin headers, but do not
>> span entire Nucleo, if that makes > sense - to reduce board square
>> inches. > > On Oshpark, search for shared project : NucleoBot_DPA_2 > >
>> Ron > > > > > > > > -----Original Message----- From: Murray Altheim via
>> DPRGlist > <dprglist at lists.dprg.org> To: dprglist at lists.dprg.org Sent:
>> Thu, Oct > 21, 2021 6:15 pm Subject: Re: [Dprglist] Fwd: Need suggestion
>> for > expansion boards for STM32 to build a robot > > On 22/10/21 6:08
>> am, Doug Paradis via DPRGlist wrote: [...] An > alternative is a board
>> laid out by club member Ron Grant. Ron's > board >> requires some more
>> work on your part, but breaks out all the pins. >> It is much larger
>> than the UNO sensor shield, but has some nice >> features. It may
>> require having it built at a PCB company. > Hi Doug, > > Has Ron
>> released the files for that board somewhere? Because nowadays > it's
>> almost trivial to send a board spec off to a fab shop and have > them
>> made and sent back quickly and cheaply, possibly cheaper than > from
>> Adafruit or another hobbyist vendor (you may be able to buy them > for
>> roughly the cost that Adafruit does as an OEM). > > Having the board
>> files available would be a boon to the robotics > community, as even I
>> (!) am now looking at STM32 boards, among them > the Nucleo-64s. > >
>> Cheers, > > Murray > >
>> ...........................................................................
>>
>> > > Murray Altheim <murray18 at altheim dot com>????????????????????? =
>> =? ===
>> > http://www.altheim.com/murray/ >
>> <
>> http://secure-web.cisco.com/1uMwoWuJh8sM3pW1MNURF7he2-zKJSnyI8Uf_p02RD3D7vc8kPoxErh1bYLtOttiD-z41gCtWkM-2Epn4xxIgoOreeCNHAoP0aOJSiKMc41vKAdb5EsDhw74fr_DISXQ9nEYPBTbL1L_w-C-QJtPUHCW7H5qjF6LnpGbdkG93Qmn6ACn01ZkBgiqvqGRZKhrpWp8EJBkzGhhaPs2tBCBZuGdQOxO4K31f5mwvJS3gFa3yIrqvfoZGKVT50GegnYvWKBFx0rZ6Q5oL6c817VT8l_goQIaOcZ7Mah0rtC8uSi8/http%3A%2F%2Fwww.altheim.com%2Fmurray%2F>
>>
>> > === === = = === In the evening The rice leaves in the garden Rustle >
>> in the autumn wind That blows through my reed hut. -- Minamoto no >
>> Tsunenobu > > _______________________________________________ DPRGlist
>> mailing > list DPRGlist at lists.dprg.org <mailto:DPRGlist at lists.dprg.org>
>> > http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org >
>> <http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org> > >
>> _______________________________________________ DPRGlist mailing > list
>> DPRGlist at lists.dprg.org >
>> http://lists.dprg.org/listinfo.cgi/dprglist-dprg.or
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>>
>> ------------------------------
>>
>> Message: 5
>> Date: Fri, 22 Oct 2021 07:42:43 -0400
>> From: Chris N <netterchris at gmail.com>
>> To: Thalanayar Muthukumar <tnkumar at gmail.com>
>> Cc: DPRG <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Need suggestion for expansion boards for STM32
>> to build a robot
>> Message-ID:
>> <
>> CA++ApaXK_WjCSmCvyzg8Fg5Y4VfdaU1nN_91eBk_tuZ1c0qeJw at mail.gmail.com>
>> Content-Type: text/plain; charset="utf-8"
>>
>> Kumar,
>> In principle that Arduino shield should work for you, provided there are
>> no
>> issues with voltage levels. The STM32 is 5V-tolerant, so probably nothing
>> to worry about on that end. Maybe more of a question if the Shield gets
>> the voltage it needs. It probably will, because the arduino headers have
>> a
>> pin reserved for 5V. It's just one of those things worth double
>> checking,
>> though, before you start banging your head against the wall....
>> Maybe more worth noting is the fact that the shield uses the L293 motor
>> driver (not the 298). The L293 is not exactly very powerful. 1.2A
>> max.
>>
>> P.S.: what happened to your plans with Pi + Ubuntu + ROS ? Is the STM32
>> an addition to that setup, or instead of that Pi-based setup?
>>
>> Chris.
>>
>> On Thu, Oct 21, 2021 at 3:19 PM Thalanayar Muthukumar <tnkumar at gmail.com>
>> wrote:
>>
>> > Thanks Chris.
>> > I have this Arduino shield (
>> >
>> https://www.amazon.com/gp/product/B01LX9TLP5/ref=ppx_yo_dt_b_asin_title_o01_s00?ie=UTF8&psc=1
>> )
>> > which can possibly be used with the NUCLEO - I may need to confirm that
>> the
>> > voltage levels match. Beyond that, in the initial phase, I have my
>> > I2C(StemmaQT) BN055 and StemmaQT OLED display that I may want to use.
>> >
>> > In later stages, after I get my initial STM32 robot moving, may consider
>> > other sensors.
>> >
>> > Regards.
>> > - Kumar
>> >
>> > On Thu, Oct 21, 2021 at 7:16 AM Christian M Netter <
>> netterchris at gmail.com>
>> > wrote:
>> >
>> >> Do you have a rough idea of what type of sensors And actuators and how
>> >> many of each you will be connecting?
>> >>
>> >> That will tell you what type of I/O and how much of each you will need
>> >>
>> >> What is lacking from the nucleo board that you purchased?
>> >>
>> >> Most STM 32 boards probably have enough I/O for a basic robot so you
>> >> might not actually need an expansion.
>> >>
>> >> The only thing you might need is a motor driver.
>> >>
>> >> Chris
>> >>
>> >> On Oct 21, 2021, at 12:05 AM, Thalanayar Muthukumar via DPRGlist <
>> >> dprglist at lists.dprg.org> wrote:
>> >>
>> >> ?
>> >> So far, in the past few months, I have been building Arduino or RPi
>> based
>> >> robots.
>> >> I decided next, to use the STM32 and ordered a NUCLEO STM32L476RG Kit.
>> >>
>> >> Need suggestions for expansion boards that can help me build a robot.
>> >> I see many Arduino shields and Pi Hats, but could not locate the right
>> >> expansion board.
>> >>
>> >> Or instead of the NUCLEO kit, should I be looking at other STM32
>> boards?
>> >> I do not want to build a custom board.
>> >>
>> >> Regards.
>> >> - Kumar
>> >>
>> >>
>> -------------- next part --------------
>> An HTML attachment was scrubbed...
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>> http://lists.dprg.org/pipermail/dprglist-dprg.org/attachments/20211022/f25e68b6/attachment-0001.html
>> >
>>
>> ------------------------------
>>
>> Message: 6
>> Date: Fri, 22 Oct 2021 06:53:11 -0500
>> From: Thalanayar Muthukumar <tnkumar at gmail.com>
>> To: Chris N <netterchris at gmail.com>
>> Cc: DPRG <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Need suggestion for expansion boards for STM32
>> to build a robot
>> Message-ID: <8414D2B6-F2AB-4DEE-A22F-A3C4C5671012 at gmail.com>
>> Content-Type: text/plain; charset="utf-8"
>>
>> Thanks Chris for the inputs.
>> The STM32 is in addition to the RPi setup. Post the last update, I have
>> not had the time to work on my RPi setup.
>>
>> Regards.
>> - Kumar
>>
>> Sent from my iPhone
>>
>> > On Oct 22, 2021, at 6:42 AM, Chris N <netterchris at gmail.com> wrote:
>> >
>> > ?
>> >
>> > Kumar,
>> > In principle that Arduino shield should work for you, provided there
>> are no issues with voltage levels. The STM32 is 5V-tolerant, so probably
>> nothing to worry about on that end. Maybe more of a question if the Shield
>> gets the voltage it needs. It probably will, because the arduino headers
>> have a pin reserved for 5V. It's just one of those things worth double
>> checking, though, before you start banging your head against the wall....
>> > Maybe more worth noting is the fact that the shield uses the L293 motor
>> driver (not the 298). The L293 is not exactly very powerful. 1.2A max.
>> >
>> > P.S.: what happened to your plans with Pi + Ubuntu + ROS ? Is the
>> STM32 an addition to that setup, or instead of that Pi-based setup?
>> >
>> > Chris.
>> >
>> >> On Thu, Oct 21, 2021 at 3:19 PM Thalanayar Muthukumar <
>> tnkumar at gmail.com> wrote:
>> >> Thanks Chris.
>> >> I have this Arduino shield (
>> https://www.amazon.com/gp/product/B01LX9TLP5/ref=ppx_yo_dt_b_asin_title_o01_s00?ie=UTF8&psc=1)
>> which can possibly be used with the NUCLEO - I may need to confirm that the
>> voltage levels match. Beyond that, in the initial phase, I have my
>> I2C(StemmaQT) BN055 and StemmaQT OLED display that I may want to use.
>> >>
>> >> In later stages, after I get my initial STM32 robot moving, may
>> consider other sensors.
>> >>
>> >> Regards.
>> >> - Kumar
>> >>
>> >>> On Thu, Oct 21, 2021 at 7:16 AM Christian M Netter <
>> netterchris at gmail.com> wrote:
>> >>> Do you have a rough idea of what type of sensors And actuators and
>> how many of each you will be connecting?
>> >>>
>> >>> That will tell you what type of I/O and how much of each you will need
>> >>>
>> >>> What is lacking from the nucleo board that you purchased?
>> >>>
>> >>> Most STM 32 boards probably have enough I/O for a basic robot so you
>> might not actually need an expansion.
>> >>>
>> >>> The only thing you might need is a motor driver.
>> >>>
>> >>> Chris
>> >>>
>> >>> On Oct 21, 2021, at 12:05 AM, Thalanayar Muthukumar via DPRGlist <
>> dprglist at lists.dprg.org> wrote:
>> >>>
>> >>> ?
>> >>> So far, in the past few months, I have been building Arduino or RPi
>> based robots.
>> >>> I decided next, to use the STM32 and ordered a NUCLEO STM32L476RG Kit.
>> >>>
>> >>> Need suggestions for expansion boards that can help me build a robot.
>> >>> I see many Arduino shields and Pi Hats, but could not locate the
>> right expansion board.
>> >>>
>> >>> Or instead of the NUCLEO kit, should I be looking at other STM32
>> boards?
>> >>> I do not want to build a custom board.
>> >>>
>> >>> Regards.
>> >>> - Kumar
>> >>>
>> -------------- next part --------------
>> An HTML attachment was scrubbed...
>> URL: <
>> http://lists.dprg.org/pipermail/dprglist-dprg.org/attachments/20211022/1c4b8b14/attachment-0001.html
>> >
>>
>> ------------------------------
>>
>> Message: 7
>> Date: Fri, 22 Oct 2021 14:51:52 -0500
>> From: "David P. Anderson" <davida at smu.edu>
>> To: DPRG <dprglist at lists.dprg.org>
>> Subject: [Dprglist] Robotic Boat
>> Message-ID: <4435425e-855c-6fb9-9d57-eb079d452c50 at smu.edu>
>> Content-Type: text/plain; charset="utf-8"; format=flowed
>>
>> Just made 1000 mile journey autonomously around coastline of Denmark.??
>> Note the use of "sparse waypoints" as we've discussed recently.
>>
>>
>> https://boingboing.net/2021/10/22/a-robot-tugboat-just-made-a-successful-1000-mile-journey-overseas.html
>>
>> cheers!
>>
>> dpa
>>
>>
>>
>>
>> ------------------------------
>>
>> Message: 8
>> Date: Fri, 22 Oct 2021 15:45:48 -0500
>> From: Doug Paradis <paradug at gmail.com>
>> To: "David P. Anderson" <davida at smu.edu>
>> Cc: DPRG <dprglist at lists.dprg.org>
>> Subject: Re: [Dprglist] Robotic Boat
>> Message-ID:
>> <
>> CAOdUW+YHMpa0wHwHThbjUJNvUpN5oXTdpFZCMsjUbSn1Qj_i0Q at mail.gmail.com>
>> Content-Type: text/plain; charset="utf-8"
>>
>> David,
>> Here is an autonomous boat (https://www.locarbftw.com/) that I have
>> been studying to help with the MavLink communications for my rover. Looks
>> like a really fun project.
>> Regards,
>> Doug P.
>>
>> On Fri, Oct 22, 2021 at 2:51 PM David P. Anderson via DPRGlist <
>> dprglist at lists.dprg.org> wrote:
>>
>> > Just made 1000 mile journey autonomously around coastline of Denmark.
>> > Note the use of "sparse waypoints" as we've discussed recently.
>> >
>> >
>> >
>> https://boingboing.net/2021/10/22/a-robot-tugboat-just-made-a-successful-1000-mile-journey-overseas.html
>> >
>> > cheers!
>> >
>> > dpa
>> >
>> >
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