Welcome to the K-Scale Firmware Docs!

This is the official documentation for our core robot firmware.

Getting Started:

• Getting Started
  • Installation
    • Standard Installation
    • Installation for Jetson
  • Working with CAN
  • Development
• Testing and Debugging
  • Testing CAN Bus
  • Testing Robstride Motors

Architecture:

• Robot Controller
  • Robot Config
  • Key Components
• Motors
  • Motor Interface
  • Motor Implementations
  • Key Components
• IMU
  • IMU Interface
  • Important Notes

Examples:

• Creating and Running a New Robot
  • Step 1: Create a New Configuration
  • Step 2: Calibrate the Motors
• Firmware Scripts

API Docs:

• firmware
  • firmware package
    • Subpackages
    • Module contents