Fejemis Teensy - Revision history

Jca: /* Meta info */

2025-05-06T10:16:14Z

Meta info

← Older revision		Revision as of 12:16, 6 May 2025
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	hbt 36.3916 91 100 0.00 1 0.009		hbt 36.3916 91 100 0.00 1 0.009

	The first parameter is Teensy time (seconds); next is the ID (drive is 90, front is 91); see the source code for the rest.		The first parameter is Teensy time (seconds); the next is the ID (drive is 90, front is 91), followed by the version number (100); see the source code for the rest.

	=== Steering command ===		=== Steering command ===

2025-05-06T10:15:33Z

Meta info

← Older revision		Revision as of 12:15, 6 May 2025
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	hbt 46.57199 90 110 24.96 10 0		hbt 46.57199 90 110 24.96 10 0
	hbt 46.97199 90 110 24.91 10 0		hbt 46.97199 90 110 24.91 10 0
	The first parameter is Teensy time (seconds); next is the ID (drive is 90, front is 91); next is battery voltage, here 24.9V.		The first parameter is Teensy time (seconds); the next is the ID (drive is 90, front is 91); the next is the version (here 110) and battery voltage, here 24.9V.



	=== Steer position from front processor ===		=== Steer position from front processor ===

2025-05-06T09:42:39Z

Front Teensy

← Older revision		Revision as of 11:42, 6 May 2025
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	The front Teensy controls the steering angle of the front wheel.		The front Teensy controls the steering angle of the front wheel.

			=== Meta info ===

			The default messages from the USB connection is the ''hbt'' (heartbeat), like:
			hbt 34.7925 91 100 0.00 1 0.011
			hbt 35.1923 91 100 0.00 1 0.011
			hbt 35.5921 91 100 0.00 1 0.009
			hbt 35.9918 91 100 0.00 1 0.009
			hbt 36.3916 91 100 0.00 1 0.009

			The first parameter is Teensy time (seconds); next is the ID (drive is 90, front is 91); see the source code for the rest.

	=== Steering command ===		=== Steering command ===

2025-05-06T09:40:09Z

Drive Teensy

@@ Line 3: / Line 3: @@
 == Drive Teensy ==
-This unit calculates the odometry pose.
+This unit calculates the odometry pose and controls the driving wheels.
 === Steer position from front processor ===

2025-05-04T16:06:28Z

Actual steering angle

← Older revision		Revision as of 18:06, 4 May 2025
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	See the drive command above for more details.		See the drive command above for more details.

			=== Lift brush system ===

			A linear actuator controls the height of the steering wheel.

			The command that controls the motor is, e.g.:

			motv 6 4

			Where ''6'' is the motor voltage (-12..12V), a positive value lifts the wheel. The second parameter ''4'' is the time in seconds for the motor voltage.

			It takes about 12 seconds from end to end at 6V actuator voltage.

			The lead (brush battery) voltage sensing is not implemented.

	==== USB interface ====		==== USB interface ====
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	setid N Set device index to N (id=91, part of hbt).		setid N Set device index to N (id=91, part of hbt).
	setname string Set device name to string (< 32 chars) should be 'front'.		setname string Set device name to string (< 32 chars) should be 'front'.
	brush 0/1 Turn on/off for power to brush		brush 0/1 Turn on/off for power to the brush
	hbti and 'sub hbt N' Get time and state (~~heartbear~~)		hbti and 'sub hbt N' Get time and state (heartbeat)
	idi and 'sub id N' Get device ID (name and number)		idi and 'sub id N' Get device ID (name and number)
	----- LED control -----		----- LED control -----

2025-05-04T15:52:45Z

Actual steering angle

← Older revision		Revision as of 17:52, 4 May 2025
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	=== Actual steering angle ===		=== Actual steering angle ===

	The actual steering angle should be used by the drive system. This angle subscribed by the command every ~~10ms~~ by:		The actual steering angle should be used by the drive system. This angle subscribed by the command every 15 ms by:

	sub fwl 10		sub fwl 15

	See the drive command above for more details.		See the drive command above for more details.

2025-05-04T15:52:04Z

Steer controller

← Older revision		Revision as of 17:52, 4 May 2025
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	* ''Kp'' = 43		* ''Kp'' = 43
	* ''tau_d'' = 0.16 s		* ''tau_d'' = 0.16 s

			=== Actual steering angle ===

			The actual steering angle should be used by the drive system. This angle subscribed by the command every 10ms by:

			sub fwl 10

			See the drive command above for more details.

	==== USB interface ====		==== USB interface ====

2025-05-04T15:38:24Z

Front Teensy

@@ Line 160: / Line 160: @@
 The front Teensy controls the steering angle of the front wheel.
 The steering command is the same as for the drive processor:
 ==== USB interface ====

2025-05-04T15:16:40Z

Drive command

← Older revision		Revision as of 17:16, 4 May 2025
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	Both the drive processor and the front processor should be given the same command, like:		Both the drive processor and the front processor should be given the same command, like:

	rc 0.5 65		rc 1 0.5 65


			The first value ''1'' is intended as the command source for priority (from 1 to 10, where 1 is highest priority), this is not (pt) implemented.
			The second value ''0.5'' is the desired velocity in m/s (forward is positive).
			The third value ''65'' is the desired turn rate in degrees/s (positive is left turn).

	==== USB Interface ====		==== USB Interface ====

2025-05-04T15:13:41Z

Front Teensy

← Older revision		Revision as of 17:13, 4 May 2025
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	== Front Teensy ==		== Front Teensy ==

			The front Teensy controls the steering angle of the front wheel.

			The steering command is the same as for the drive processor:


	==== USB interface ====		==== USB interface ====