Help page Teensy 8 - Revision history

Jca: /* IR distance */

2025-03-01T16:59:37Z

IR distance

← Older revision		Revision as of 18:59, 1 March 2025
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	* iron V Turn IR sensor on or off V=1 for on (0=off)		* iron V Turn IR sensor on or off V=1 for on (0=off)
	* iri and 'sub ir N' Get IR and calibration data 'ir dist1(m) dist2(m) raw1 raw2 cal1-13 cal1-50 cal2-13 cal2-50 use		* iri and 'sub ir N' Get IR and calibration data 'ir dist1(m) dist2(m) raw1 raw2 cal1-13 cal1-50 cal2-13 cal2-50 use
	~~<!--~~ * irdi and 'sub ird N' Get IR distance 'ird dist1(m) dist2(m) sensorOn ~~-->~~		* irdi and 'sub ird N' Get IR distance 'ird dist1(m) dist2(m) sensorOn

	==== IMU ====		==== IMU ====

Jca: /* IR distance */

2025-03-01T16:43:47Z

IR distance

← Older revision		Revision as of 18:43, 1 March 2025
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	* iron V Turn IR sensor on or off V=1 for on (0=off)		* iron V Turn IR sensor on or off V=1 for on (0=off)
	* iri and 'sub ir N' Get IR and calibration data 'ir dist1(m) dist2(m) raw1 raw2 cal1-13 cal1-50 cal2-13 cal2-50 use		* iri and 'sub ir N' Get IR and calibration data 'ir dist1(m) dist2(m) raw1 raw2 cal1-13 cal1-50 cal2-13 cal2-50 use
	* irdi and 'sub ird N' Get IR distance 'ird dist1(m) dist2(m) sensorOn		<!-- * irdi and 'sub ird N' Get IR distance 'ird dist1(m) dist2(m) sensorOn -->

	==== IMU ====		==== IMU ====
	* gyrocal Set gyro calibration values (offset[3])		* gyrocal Set gyro calibration values (offset[3])

Jca: /* On line help page */

2025-02-02T07:30:33Z

On line help page

← Older revision		Revision as of 09:30, 2 February 2025
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	A list of commands and possible data subscriptions directly from the Teensy. Taken from on-line ''help'' command.		A list of commands and possible data subscriptions directly from the Teensy. Taken from on-line ''help'' command.

	Valid for ''teensy_firmware_8'' SVN version ~~992~~ (~~Jan~~ 2025)		Valid for ''teensy_firmware_8'' SVN version 1135 (Feb 2025)

	==== Robot settings ====		==== Robot settings ====

Jca: /* Servo */

2025-02-01T17:08:59Z

Servo

← Older revision		Revision as of 19:08, 1 February 2025
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	* scai and 'sub sca N' Get supply current in 'sca a n' a in amps, averaged over n samples		* scai and 'sub sca N' Get supply current in 'sca a n' a in amps, averaged over n samples
	==== Servo ====		==== Servo ====
	* svos e p v e p v ... set all servos e=enable, p=position +/-1024, v=velocity -1.~~.100,-1=max~~		* svos e p v e p v ... set all servos e=enable, p=position +/-1024, v=velocity.
	* servo i p v set one servo i=index 1..5, pos +/-1024, v=velocity 0..4000,0=max, 1=sloooow		* servo i p v set one servo i=index 1..5, pos +/-1024, v=velocity 0..4000,0=max, 1=sloooow
	* svoi and 'sub svo N' get servo configuration 'svo {enabeled pos[0...1000] vel}*5'		* svoi and 'sub svo N' get servo configuration 'svo {enabeled pos[0...1000] vel}*5'

	==== Display ====		==== Display ====
	* disp text Set a display line text		* disp text Set a display line text

Jca: /* USB connection */

2025-01-27T16:57:37Z

USB connection

← Older revision		Revision as of 18:57, 27 January 2025
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	* nocrc V Allow messages without CRC: V=1: allow (is=0)		* nocrc V Allow messages without CRC: V=1: allow (is=0)
	* silent V Should USB be silent, if no communication (1=auto silent) silent=1 (pt no effect)		* silent V Should USB be silent, if no communication (1=auto silent) silent=1 (pt no effect)
			* alive Ignorred, but used to keep communication alive (once a sec is fine)
	* usbi and 'sub usb N' Get status for USB connection 'usb time inCnt inErr serviced/sec serviceLoopCnt/sec sendFail/sec'		* usbi and 'sub usb N' Get status for USB connection 'usb time inCnt inErr serviced/sec serviceLoopCnt/sec sendFail/sec'
	* ssvi and 'ssv' Get subscription status (as info with key and interval time)		* ssvi and 'ssv' Get subscription status (as info with key and interval time)

Jca: /* Line sensor */

2025-01-25T11:31:23Z

Line sensor

← Older revision		Revision as of 13:31, 25 January 2025
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	* licw N Use current value as white (average over N samples)		* licw N Use current value as white (average over N samples)
	* licb Use current value as black (should not be used)		* licb Use current value as black (should not be used)
	* ~~licw~~ w w w w w w w w Use these values as white		* litw w w w w w w w w Use these values as white
	* ~~licb~~ b b b b b b b b Use these values as black (should be zeros)		* litb b b b b b b b b Use these values as black (should be zeros)
	* livi and 'sub liv N' Get line-sensor raw AD value 'liv ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'		* livi and 'sub liv N' Get line-sensor raw AD value 'liv ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'
	* liwi and 'sub liw N' Get line-sensor white (AD) level 'liw w1 w2 w3 w4 w5 w6 w7 w8'		* liwi and 'sub liw N' Get line-sensor white (AD) level 'liw w1 w2 w3 w4 w5 w6 w7 w8'

Jca: /* Line sensor */

2025-01-25T08:45:41Z

Line sensor

← Older revision		Revision as of 10:45, 25 January 2025
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	==== Line sensor ====		==== Line sensor ====
	* lip p [w h t xth wi s lth] Settings: p=on, w=white, h=high power, t=tilt comp~~, xth=cross_th (0..1)~~, wi=wide, s=swap, lth=line thresh (0..1), ~~all~~ but first parameter are optional		* lip p [w h t xth wi s lth] Settings: p=on, w=white, h=high power, t=tilt comp, wi=wide, s=swap, lth=line thresh (0..1), xth=cross_th (0..1). All but first parameter are optional
	* licw N Use current value as white (average over N samples)		* licw N Use current value as white (average over N samples)
	* licb Use current value as black (should not be used)		* licb Use current value as black (should not be used)
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	* livni and 'sub livn N' Get line-sensor normalized value 'livn ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'		* livni and 'sub livn N' Get line-sensor normalized value 'livn ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'
	* lipi and 'sub lip N' Get line-sensor position 'lip left right valid validCnt crossing crossingCnt'		* lipi and 'sub lip N' Get line-sensor position 'lip left right valid validCnt crossing crossingCnt'
	* lisi and 'sub lis N' Get line-sensor settings 'lis on white high tilt ~~crossTh~~ wide swap'		* lisi and 'sub lis N' Get line-sensor settings 'lis on white high tilt wide swap lineTh crossTh'

	==== IR distance ====		==== IR distance ====

Jca: /* logger */

2025-01-25T07:53:11Z

logger

← Older revision		Revision as of 09:53, 25 January 2025
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	* lsts Set log interval (for timing info only)		* lsts Set log interval (for timing info only)
	* logmsg Start log of (all) streamed messages (e.g. subscriptions)		* logmsg Start log of (all) streamed messages (e.g. subscriptions)
	* lfli and 'sub lfl N' Get log flags 'lfl mis acc gyro mag motref motv mota enc vel turnrate pose line dist batt timing extra chirp'		* lfli and 'sub lfl N' Get log flags 'lfl (mis) acc gyro (mag) (motref) motv mota enc vel turnrate pose line dist batt timing extra (chirp)', ()=not available
	* lsti and 'sub lst N' Get log status 'lst interval rows rowsMax logSize'		* lsti and 'sub lst N' Get log status 'lst interval rows rowsMax logSize'

Jca: /* logger */

2025-01-25T07:37:23Z

logger

← Older revision		Revision as of 09:37, 25 January 2025
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	* lsts Set log interval (for timing info only)		* lsts Set log interval (for timing info only)
	* logmsg Start log of (all) streamed messages (e.g. subscriptions)		* logmsg Start log of (all) streamed messages (e.g. subscriptions)
	* lfli and 'sub lfl N' Get log flags 'lfl mis acc gyro mag motref motv mota enc vel ~~turnr~~ pose line dist batt ex chirp'		* lfli and 'sub lfl N' Get log flags 'lfl mis acc gyro mag motref motv mota enc vel turnrate pose line dist batt timing extra chirp'
	* lsti and 'sub lst N' Get log status 'lst interval rows rowsMax logSize'		* lsti and 'sub lst N' Get log status 'lst interval rows rowsMax logSize'

	==== EE (configuration flash) ====		==== EE (configuration flash) ====
	* eew Save configuration to EE-Prom (flash)		* eew Save configuration to EE-Prom (flash)

Jca: /* On line help page */

2025-01-25T07:04:32Z

On line help page

← Older revision		Revision as of 09:04, 25 January 2025
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	==On line help page==		==On line help page==

	A list of commands and possible data subscriptions directly from the Teensy.		A list of commands and possible data subscriptions directly from the Teensy. Taken from on-line ''help'' command.

	Valid for ''teensy_firmware_8'' SVN version ~~861~~ (Jan 2025)		Valid for ''teensy_firmware_8'' SVN version 992 (Jan 2025)

	==== Robot settings ====		==== Robot settings ====