STM32F401RE Robot Controller with Windows Forms UI

A complete robot control system featuring STM32F401RE firmware and a Windows Forms desktop application with real-time UART communication.

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Table of Contents

• Features
• Hardware Requirements
• Pin Configuration
• Communication Protocol
• Project Structure
• Installation
• Commands
• Troubleshooting
• Technical Details
• Authors
• License

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Features

STM32 Firmware

• PWM motor control using TIM3 Channel 1
• Adjustable duty cycle from 0% to 100%
• 12-bit ADC sensor reading
• Frequency and period measurement using TIM4
• Digital input and output control
• 1ms system timer interrupt
• UART command parser with \r\n delimiters

Windows Forms Application

• Real-time motor speed slider
• Live ADC monitoring
• Frequency measurement display
• Digital I/O control panel
• UART communication log window
• Automatic COM port detection

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Hardware Requirements

Component	Description
STM32F401RE Nucleo Board	Main controller
USB-to-TTL Converter	UART communication
DC Motor	Robot actuator
Motor Driver (L298N)	PWM motor control
Analog Sensor	ADC input source
Encoder / Signal Source	Frequency measurement
LED / Relay	Digital output
Push Button	Digital input

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Pin Configuration

┌─────────── STM32F401RE Nucleo-64 ───────────┐
│                                             │
│ PA1   (ADC1_IN1)    ← Analog Sensor         │
│ PA2   (USART2_TX)   → UART to PC            │
│ PA3   (USART2_RX)   ← UART from PC          │
│ PA5   (LED2)        → Built-in LED          │
│ PB0   (GPIO_OUT)    → Relay / Direction     │
│ PB1   (GPIO_IN)     ← Push Button           │
│ PB10  (TIM2_CH3)    ← Encoder Input         │
│ PC6   (TIM3_CH1)    → PWM Output            │
│ PC13  (B1)          ← User Button           │
│                                             │
└─────────────────────────────────────────────┘

Clock Configuration

HSI 16MHz → PLL
SYSCLK: 84MHz
HCLK:    84MHz
APB1:    42MHz
APB2:    84MHz
ADC CLK: 21MHz

Timer Settings

Timer	Prescaler	Period	Function
TIM2	83	999	1ms system tick
TIM3	83	999	PWM generation
TIM4	83	65535	Period measurement

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Communication Protocol

Interface: UART2
Baud Rate: 115200
Format: 8N1

Command Format

<COMMAND> [PARAMETER]\n

Command Reference

Command	Parameter	Response	Description
PING	-	PONG	Connection test
ADD n	Integer	ADD n+1	Arithmetic test
OUT n	0 or 1	IN 0/1	Set PB0 and read PB1
PWM n	0-100	PWMOK n	Set PWM duty cycle
ADC?	-	ADC n	Read ADC value
MEAS?	-	PER n	Read signal period
Invalid	-	ERR	Unknown command

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Project Structure

STM32-Robot-Controller/
├── firmware/
├── desktop/
├── docs/
├── .gitignore
├── LICENSE
└── README.md

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Installation

Prerequisites

Firmware

• STM32CubeIDE
• ST-Link USB Driver

Desktop Application

• Visual Studio 2019
• .NET Framework 4.8 SDK
• Windows 10 or Windows 11

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Authors

• Sahand Masoudi

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📄 License

This project is licensed under the MIT License.