Examples for Pololu Zumo 32u4 robot running QP state machines.

Prerequisites:

• The Pololu Zumo 32u4 robot to run these examples.
• Install v4.2 or the latest version of the QM modeler (https://sourceforge.net/projects/qpc/files/QM/)
• Arduino IDE
• Install the QPN and Pololu zomo 32u4 libraries in Arduino (Sketch->Include Libraries -> Manage Libraries)
• Dev option 1: Compile/load with Arduino, Modify state machines using QM. (this is my way)
• Dev option 2: Use QM for everything, using external tools preferences as defined in the .Blinky file in the source directory.

Steps:

• Open the .qm file from one of the directories (e.g. MiniSumo2)
• Please the Generate Code icon in the toolbar. This generates a .ino file on disk.
• Open the .ino file in Arduino. Set File->Prefereences->Use external IDE so Arduino is updated automatically when you regenerate code in QM.
• Verify/Upload code. Pick Tools->Board->Pololu A-star 32u4. Usually the correct port is automatically picked by Arduino and COM10 usually works for me.

Useful documentation (no need to read these before proceeding):

1. Shortform description of Timer 4 (https://goo.gl/9tUArV)
2. 32U4 processor datasheet: (https://goo.gl/4L7tAf)
3. Zumo 32u4 arduino library (https://www.pololu.com/docs/0J63/6)
4. Using QM Modeler for Atmega328/Uno (https://goo.gl/VZYq4W)

General Troubleshooting tips:

Q. What to do when Arduino can't upload A. What works for me is to press the reset button on the pololu two times quickly when the 'Upload' attempt is being made. In the verbose mode, this looks like a lot of lines printing out COM ports (searching for one that works). In Arduino IDE, you'll see the message 'Uploading' in the header bar.

Q. How do I copy an example and use it as a starting point? A. Follow these steps:

1. Copy the directory containing qm file and other files. Rename to
2. Open the model (.qm file) in the dir.
3. Save as .qm
4. Change the name of the .ino file in QM interface, as .ino
5. In the directory, delete the old .qm and .ino files.
6. Open the .ino file in Arduino and launch (or launch it from QM depending on how you have things setup).