Robobot teensy firmware - Revision history

Jca: /* Information and debug */

2026-01-22T09:30:33Z

Information and debug

@@ Line 136: / Line 136: @@
 === Information and debug ===
-Information and debug messages are always preceded by a '#' character, as shown above.
+Information and debug messages are always preceded by a '#' character.
 === Log data ===

Jca: /* Log data */

2026-01-22T08:50:13Z

Log data

← Older revision		Revision as of 10:50, 22 January 2026
Line 140:		Line 140:
	=== Log data ===		=== Log data ===

	There is a log-to-RAM feature		There is a log-to-RAM feature.

	lognow 100		lognow 100
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	The parameter (100) is the logging interval in ms. Default is as fast as possible.		The parameter (100) is the logging interval in ms. Default is as fast as possible.

	The logged data (here with an interval of 2ms) can be retrieved by		The logged data (here with default log-flags and an interval of 2ms) can be retrieved by

	log		log
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	lfls 0 0 0 0 0 1 0 0 1 1 1 1 0 1 0 0 0		lfls 0 0 0 0 0 1 0 0 1 1 1 1 0 1 0 0 0
	The flags are: (mis), ACC, gyro, (mag), (motref), motor V , motor A, encoder, velocity , turn-rate , pose , line sensor , distance, battery , timing, extra, (chirp). Data types in ~~brachets~~ are not available in this version ~~of the firmware~~. Those marked with an '*' are selected by default. Selection will be saved with the ''eew'' command.		The flags are: (mis), ACC, gyro, (mag), (motref), motor V, motor A, encoder, velocity, turn-rate, pose, line sensor, distance, battery, timing, extra, (chirp). Data types in brackets are not available in this firmware version. Those marked with an '*' are selected by default. Selection will be saved with the ''eew'' command.

	==== ~~Matlab~~ ====		==== MATLAB ====

	This format is intended for ~~Matlab~~, ~~as Matlab will ignore~~ lines ~~starting~~ with a '%'.		This format is intended for MATLAB, which ignores lines that start with a '%'.
	The rest can be loaded with the Matlab load command:		The rest can be loaded with the Matlab load command:

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	The easiest way is to have console access directly to the Teensy.		The easiest way is to have console access directly to the Teensy.
	Connect to the robot using, e.g., ~~Putty~~ to get two command lines on the Robot's Raspberry.		Connect to the robot using, e.g., PuTTY to get two command lines on the Robot's Raspberry Pi.
	Or a serial console if the Teensy is connected directly to a PC.		Or a serial console if the Teensy is connected directly to a PC.

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	ir 0.124 0.137 15652 14214 15000 4600 15000 4100 1		ir 0.124 0.137 15652 14214 15000 4600 15000 4100 1

	Obstacles are here at 13 cm for both sensors. The first two values show the distance, ~~and they are here~~ close to 13 cm. The raw (filtered) values are approximately 15660 and 14210, respectively. This is relatively close to the already calibrated ~~values~~ of 15000.		Obstacles are here at 13 cm for both sensors. The first two values show the distance, which is close to 13 cm here. The raw (filtered) values are approximately 15660 and 14210, respectively. This is relatively close to the already-calibrated value of 15000.

	The last value ''1'' shows that the sensor is on, if not; then send the on command:		The last value ''1'' shows that the sensor is on; if not, then send the on command:

	iron 1		iron 1
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	==== Implement calibration ====		==== Implement calibration ====

	To implement the new calibration values use (in this case).		To implement the new calibration values, use (in this case).
	* Help text is: ''irc A1 B1 A2 B2 V Set calibration values A=13cm value, B=50cm (sensor 1 and 2) V=1 in on''.		* Help text is: ''irc A1 B1 A2 B2 V Set calibration values A=13cm value, B=50cm (sensor 1 and 2) V=1 in on''.

Line 273:		Line 273:
	ir 0.493 0.501 4654 4755 15660 4600 14210 4760 1		ir 0.493 0.501 4654 4755 15660 4600 14210 4760 1

	After this calibration, the actual values should be within 3-5 cm in the range ~~between 10cm and 50cm~~.		After this calibration, the actual values should be within 3-5 cm of the 10-50cm range.

	==== Reflections ====		==== Reflections ====

	If the sensor looks into a ~~reflecting~~ surface, ~~then this~~ may disturb the reading.		If the sensor looks into a reflective surface, it may disturb the reading.

	==== Back to normal ====		==== Back to normal ====
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	./teensy_interface -l		./teensy_interface -l

	But the restarted process will be terminated ~~sometime~~ after you terminate ~~the~~ command line access.		But the restarted process will be terminated after you terminate command-line access.
	-->		-->

Jca: /* Log data */

2026-01-22T08:32:09Z

Log data

← Older revision		Revision as of 10:32, 22 January 2026
Line 145:		Line 145:

	The ''log now 100'' will start logging (until the buffer is full). Something like 300 kbytes has been allocated for logging.		The ''log now 100'' will start logging (until the buffer is full). Something like 300 kbytes has been allocated for logging.
	The parameter (100) is the logging interval in ms.		The parameter (100) is the logging interval in ms. Default is as fast as possible.

	The logged data (here with an interval of 2ms) can be retrieved by		The logged data (here with an interval of 2ms) can be retrieved by

Jca: /* Log data */

2026-01-22T08:30:06Z

Log data

← Older revision		Revision as of 10:30, 22 January 2026
Line 145:		Line 145:

	The ''log now 100'' will start logging (until the buffer is full). Something like 300 kbytes has been allocated for logging.		The ''log now 100'' will start logging (until the buffer is full). Something like 300 kbytes has been allocated for logging.
			The parameter (100) is the logging interval in ms.

	The logged data can be retrieved by		The logged data (here with an interval of 2ms) can be retrieved by

	log		log

Jca: /* Interface */

2026-01-22T08:26:37Z

Interface

← Older revision		Revision as of 10:26, 22 January 2026
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	A complete list of commands to the Teensy can be found here: [[Help page Teensy_8]]		A complete list of commands to the Teensy can be found here: [[Help page Teensy_8]]

	This description is between the t''teensy_interface'' and the Teensy.		This description is between the ''teensy_interface'' and the Teensy.
	Most commands and data are also available from MQTT, see [[Robobot MQTT topics]].		Most commands and data are also available from MQTT, see [[Robobot MQTT topics]].

Line 34:		Line 34:
	;25gyro -0.029723 -0.234161 -0.233093 14948.998		;25gyro -0.029723 -0.234161 -0.233093 14948.998

	All subscriptions start with ''sub'' followed by the keyword ~~for the data~~ and ~~ending~~ with the data interval in ms.		All subscriptions start with ''sub'', followed by the data keyword, and end with the data interval in ms.
	The fastest update rate is determined by the update rate ~~of the Teensy~~, typically 2ms.		The fastest update rate is determined by the Teensy's update rate, typically 2ms.

	The USB interface can handle about 4000 messages per second.		The USB interface can handle about 4000 messages per second.
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	The ''teensy_interface'' will check and remove these characters.		The ''teensy_interface'' will check and remove these characters.

	The remaining part is the data preceded ~~with~~ a unique keyword (here, "gyro"). The data string is sometimes extended with additional (debug) data; here, the fourth value is a timestamp (Teensy time).		The remaining part is the data preceded by a unique keyword (here, "gyro"). The data string is sometimes extended with additional (debug) data; here, the fourth value is a timestamp (Teensy time in seconds).

	All subscribable data can be requested once by adding an 'i' at the end of the keyword; like:		All subscribable data can be requested once by adding an 'i' at the end of the keyword, like:

	gyroi		gyroi

Jca: /* Remove the leading three characters */

2026-01-22T08:23:43Z

Remove the leading three characters

← Older revision		Revision as of 10:23, 22 January 2026
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	==== Remove the leading three characters ====		==== Remove the leading three characters ====

	If data ~~directly~~ from Teensy is to be loaded into MATLAB, ~~then~~ the first three characters ~~need to~~ be removed.		If data from the Teensy is to be loaded into MATLAB, the first three characters must be removed.
	SED can do the task.		SED can do the task.

Line 67:		Line 67:
	;050.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10		;050.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10

	Then the first line starting with '#' ~~need~~ to be removed, ~~that~~ is easy in an editor, the three ~~crc~~ characters need to be removed too.:		Then the first line starting with '#' needs to be removed manually, which is easy in an editor; the three CRC characters need to be removed too.:

	sed -i 's/^.\{3\}//' teensy_log.txt		sed -i 's/^.\{3\}//' teensy_log.txt

Jca: /* CRC check */

2026-01-20T13:22:55Z

CRC check

← Older revision		Revision as of 15:22, 20 January 2026
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	The Teensy will stop the USB data stream if no messages are received within 60 seconds. This function is not active if CRC is disabled.		The Teensy will stop the USB data stream if no messages are received within 60 seconds. This function is not active if CRC is disabled.

	The ~~Teensy interface~~ will reject all data if CRC is disabled.		The teensy_interface will reject all data if CRC is disabled.

	=== Configuration ===		=== Configuration ===

Jca: /* Remive the leading three characters */

2025-03-20T20:07:35Z

Remive the leading three characters

← Older revision		Revision as of 22:07, 20 March 2025
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	;69gyro 0.000795 -0.081573 -0.172058 15693.118		;69gyro 0.000795 -0.081573 -0.172058 15693.118

	==== ~~Remive~~ the leading three characters ====		==== Remove the leading three characters ====

	If data directly from Teensy is to be loaded into MATLAB, then the first three characters need to be removed.		If data directly from Teensy is to be loaded into MATLAB, then the first three characters need to be removed.

Jca: /* Remive the leading three characters */

2025-03-20T16:35:05Z

Remive the leading three characters

← Older revision		Revision as of 18:35, 20 March 2025
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	0.0031 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13556 0.00 0.00 0 0 590 563 568 550 558 544 542 604 1 1 1 0.57 0 0 19.15		0.0031 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13556 0.00 0.00 0 0 590 563 568 550 558 544 542 604 1 1 1 0.57 0 0 19.15
	0.0071 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13555 0.00 0.00 0 0 609 584 559 575 557 531 515 546 1 1 1 0.56 0 0 19.14		0.0071 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13555 0.00 0.00 0 0 609 584 559 575 557 531 515 546 1 1 1 0.56 0 0 19.14
	0.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10		0.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10
			Ready for MATLAB import, e.g.:
			dd = load('teensy_log.txt');

	==== CRC check ====		==== CRC check ====

Jca: /* Interface */

2025-03-20T16:32:39Z

Interface

← Older revision		Revision as of 18:32, 20 March 2025
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	0.0071 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13555 0.00 0.00 0 0 609 584 559 575 557 531 515 546 1 1 1 0.56 0 0 19.14		0.0071 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13555 0.00 0.00 0 0 609 584 559 575 557 531 515 546 1 1 1 0.56 0 0 19.14
	0.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10		0.0111 1.53 1.53 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.13554 0.00 0.00 0 0 589 583 563 565 532 532 540 552 1 1 1 0.56 0 0 19.10



	==== CRC check ====		==== CRC check ====