AhaRobot Firmware Resources

April 24, 2025 · View on GitHub

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Project Website • Paper • Documentation • ROS Code • Firmware Code • Hardware Design • Dataset

Repository Contents

This repository contains four submodules of firmware resources for AhaRobot, organized as follows:

Main Components

Robot Body Controllers

  • AstraArmController: Arm controller firmware

    • Controls the arm movements of the Astra robot

  • AstraLiftController: Lift controller firmware

    • Controls the arm lifting

  • AstraHeadController: Head controller firmware

    • Controls the robot's head movements

Teleoperation Controllers

  • AstraPedalController: Firmware for hall-effect pedals
    • Convert the hall-effect analog sensor read to digital form and send it using WebSerial

How-to-use

For detailed documentation, please refer to our notion site:

https://www.notion.so/aha-robot/Flashing-Firmware-1d133900bc87807c9070f3c6736d68b7

License

This project is licensed under the GNU General Public License v3.0 (GPL-3.0) with additional restrictions.

This means:

  • ✅ You are free to use, modify and distribute the source code
  • ✅ You must make your modifications available under the same license
  • ✅ You must state changes made to the code
  • ✅ You must include the original copyright notice
  • ❌ You may not use the material for commercial purposes
  • ❌ Modifications must also prohibit commercial use

IMPORTANT: This project explicitly prohibits ANY commercial use, including but not limited to selling products based on this project.

See the LICENSE file for the full license text.