A Real Time Embedded STM32 Discovery robot. Stayin' Alive.

##Requirements ###Hardware

1. STM32-F4 ARM Cortex-M4 MCU (such as the STM32-F4 Discovery Board)
2. 2 Xbee Radios
3. L293 Motor Driver
4. A Differential drive robot

WIRING CONNECTIONS:

For PC controlled xbee:

For robot Xbee:

For the motor driver:

###Software -The ARM Standard Peripheral Library must be included to properly use this driver. Specifically make sure you have included these S.P.L. files in your project's working directory:
(update this list) "stm32f4xx.h"
"stm32f4xx_rcc.h"
"stm32f4xx_gpio.h"
"stm32f4xx_usart.h"
"misc.h"

-Java Interface:

##Documentation: This project is Doxygen compatible. A doxyfile has been included for easily generating documentation. Input and output paths may need to be edited to the path of your download directory.

##Basic Usage: (see: main.c for a working example)

Open a terminal in the project directory and run the gnu make command:
make clean && make

Open a new terminal and run openocd: openocd -f board/stm32f4discovery.cfg

To flash the binary onto the STM32 board: st-flash write STM32_example.bin 0x8000000