Welcome to the ForceCAST Nucleo Framework developed by the AltairLab, and adapted by the Legged Robotics Group (LegRo) for the Impedance Control 2 Dimensions (IC2D) bench. The present tools are intented to work with the board STM32 NUCLEO-F446RE. In order to avoid issues regarding the Python version on the host machine it is strongly recommended to use our docker image. Detailed instructions follows in the links below.

• Instructions in English
• Instruções em Português

If you consider to clone this repo directly, use this:

git clone --recurse-submodules https://github.com/qleonardolp/ic2d-nucleo.git

After clone your fork locally, update the submodules to download lib/Eigen3

git submodule update

1. Build only:

   pio run -e <env_name>

2. Build and upload:

   pio run -e <env_name> -t upload  

1. Fork repo, with only the master branch;
2. Checkout to your new develop branch;
3. After develop and test your code, start the PR on github platform.