Robobot teensy interface - Revision history

Jca: /* Configuration file */

2026-02-01T14:26:45Z

Configuration file

← Older revision		Revision as of 16:26, 1 February 2026
Line 122:		Line 122:
	The configuration is divided into groups. All Teensy data groups have an added ''0'' to indicate the first (and in this case only) Teensy board.		The configuration is divided into groups. All Teensy data groups have an added ''0'' to indicate the first (and in this case only) Teensy board.

	The configuration file is a text file, and a sample (SVN version ~~886~~) is:		The configuration file is a text file, and a sample (SVN version 1235 (Jan 2026)) is:

	[service]		[service]

Jca: /* Configuration file */

2026-02-01T14:25:35Z

Configuration file

Show changes

Jca: /* Teensy to MQTT */

2026-01-22T08:58:03Z

Teensy to MQTT

← Older revision		Revision as of 10:58, 22 January 2026
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	===Teensy to MQTT===		===Teensy to MQTT===

	The teensy_interface app can interface with ~~more than one~~ Teensy, but for Robobot, only one Teensy board is available.		The teensy_interface app can interface with multiple Teensy boards, but for Robobot, only one Teensy board is available.

	The Teensy data can be converted to an MQTT message directly, which is the default method.		The Teensy data can be converted to an MQTT message directly, which is the default method.
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	liv 731 928 962 866 888 902 828 613 50		liv 731 928 962 866 888 902 828 613 50

	~~This will, in~~ MQTT, be split into a topic and a message.		In MQTT, this will be split into a topic and a message.

	topic: ''robobot/drive/T0/liv''		topic: ''robobot/drive/T0/liv''
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	If you want to subscribe to all MQTT messages, the topic request could be ''robobot/drive/#.''		If you want to subscribe to all MQTT messages, the topic request could be ''robobot/drive/#.''

	The message is preceded by a timestamp~~, which is~~ when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970) ~~that~~ is standard for all PCs		The message is preceded by a timestamp indicating when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970), which is standard for all PCs

	The MQTT block is duplicated. This is unnecessary, as all clients can receive and publish. A timing analysis showed that a receive introduced a 40- to 80-ms delay in publishing. The fix was ~~establishing~~ two clients, one for publication and one for receiving.		The MQTT block is duplicated. This is unnecessary, as all clients can receive and publish. A timing analysis showed that a receive introduced a 40- to 80-ms delay in publishing. The fix was to establish two clients: one for publication and one for receiving.

	=== Data extract ===		=== Data extract ===

Jca at 08:55, 22 January 2026

2026-01-22T08:55:16Z

← Older revision		Revision as of 10:55, 22 January 2026
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	''log_20250113_140824.729 log_20250116_171856.006		''log_20250113_140824.729 log_20250116_171856.006

	Here are ~~logfile~~ directories ~~from~~ ''13 Jan'' and ''16 ~~jan~~ 2025''.		Here are the log file directories for ''13 Jan'' and ''16 Jan 2025''.

	Data logging is not started until the Python app is started with the line ''service.send("robobot/cmd/ti~~/log~~", "1")''. Logging ~~is stopped in the same way~~ or after 15 minutes (set in the configuration file).		Data logging is not started until the Python app is started with the line ''service.send("robobot/cmd/ti", "log 1")''. Logging stops either immediately or after 15 minutes (set in the configuration file).
	This ensures the disk is not filled with log files when the robot is not on any mission.		This ensures the disk is not filled with log files when the robot is not on any mission.

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	=== Motor control ===		=== Motor control ===

	Motor control translated drive command, linear velocity (m/s) and rotation speed (rad/s) into motor voltage sent to the Teensy.		Motor control translated the drive command, linear velocity (m/s), and rotation speed (rad/s) into a motor voltage sent to the Teensy.

	A drive command is typically sent from the Python app by MQTT topic ''robobot/cmd/ti'', e.g. ''service.send("robobot/cmd/ti", "rc 0.25 0.5")'' for a linear velocity of 0.25m/s and a rotation speed of 0.5rad/s.		A drive command is typically sent from the Python app by MQTT topic ''robobot/cmd/ti'', e.g. ''service.send("robobot/cmd/ti", "rc 0.25 0.5")'' for a linear velocity of 0.25m/s and a rotation speed of 0.5rad/s.
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	=== Gamepad control ===		=== Gamepad control ===

	There is an optional ~~possibility of controlling~~ the robot ~~from~~ a gamepad (Logitech is supported ~~only~~).		There is an optional way to control the robot using a gamepad (Logitech is the only supported brand).

	~~The manual~~ control takes over when the ''back'' button on the gamepad is pressed.		Manual control takes over when the ''back'' button on the gamepad is pressed.

	=== Configuration file ===		=== Configuration file ===

Jca: /* Command line options */

2026-01-20T13:17:55Z

Command line options

← Older revision		Revision as of 15:17, 20 January 2026
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	==Command line options==		==Command line options==

	The teensy_interface has a few command line options, including help. The command line help is:		The teensy_interface has a few command-line options, including help. The command line help is:

	cd ~/svn/robobot/teensy_interface/build		cd ~/svn/robobot/teensy_interface/build
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	-i,--interface INT Set interface number to Teensy 0..0 (default is 0)		-i,--interface INT Set interface number to Teensy 0..0 (default is 0)
	-H,--hardware INT Set robot hardware type (most likely 8) use with --interface.		-H,--hardware INT Set robot hardware type (most likely 8) use with --interface.
			-z,--initialization TEXT Specify which initialisation file to use, default is robot.ini

	When the app is started at boot-time, the options "''-d -l''" is used to not start logging and not ~~listening~~ to the keyboard.		When the app is started at boot time, the options "''-d -l''" are used to not start logging and not listen to the keyboard.

Jca: /* Motor control */

2026-01-20T13:13:49Z

Motor control

← Older revision		Revision as of 15:13, 20 January 2026
Line 98:		Line 98:
	Motor control translated drive command, linear velocity (m/s) and rotation speed (rad/s) into motor voltage sent to the Teensy.		Motor control translated drive command, linear velocity (m/s) and rotation speed (rad/s) into motor voltage sent to the Teensy.

	A drive command is typically sent from the Python app by MQTT topic ''robobot/cmd/ti~~/rc~~'', e.g. ''service.send(~~service.topicCmd +~~ "ti~~/rc~~", "0.25 0.5")'' for a linear velocity of 0.25m/s and a rotation speed of 0.5rad/s.		A drive command is typically sent from the Python app by MQTT topic ''robobot/cmd/ti'', e.g. ''service.send("robobot/cmd/ti", "rc 0.25 0.5")'' for a linear velocity of 0.25m/s and a rotation speed of 0.5rad/s.

	The ''mixer'' module calculates each wheel's needed velocity to satisfy the drive command.		The ''mixer'' module calculates each wheel's needed velocity to satisfy the drive command.

Jca: /* Teensy to MQTT */

2025-02-01T15:13:04Z

Teensy to MQTT

← Older revision		Revision as of 17:13, 1 February 2025
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	The message is preceded by a timestamp, which is when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970) that is standard for all PCs		The message is preceded by a timestamp, which is when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970) that is standard for all PCs

	The MQTT block is duplicated. This is unnecessary, as all clients can receive and publish. A timing analysis showed that a receive introduced a delay in publishing. The fix was establishing two clients, one for ~~publish~~ and one for ~~receive~~.		The MQTT block is duplicated. This is unnecessary, as all clients can receive and publish. A timing analysis showed that a receive introduced a 40- to 80-ms delay in publishing. The fix was establishing two clients, one for publication and one for receiving.

	=== Data extract ===		=== Data extract ===

Jca: /* Teensy interface */

2025-02-01T15:11:54Z

Teensy interface

← Older revision		Revision as of 17:11, 1 February 2025
Line 33:		Line 33:

	The message is preceded by a timestamp, which is when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970) that is standard for all PCs		The message is preceded by a timestamp, which is when the message was received from Teensy. The timestamp is seconds from the start of the epoch (1 Jan 1970) that is standard for all PCs

			The MQTT block is duplicated. This is unnecessary, as all clients can receive and publish. A timing analysis showed that a receive introduced a delay in publishing. The fix was establishing two clients, one for publish and one for receive.

	=== Data extract ===		=== Data extract ===

Jca: /* Command line options */

2025-01-18T16:24:48Z

Command line options

← Older revision		Revision as of 18:24, 18 January 2025
Line 301:		Line 301:
	-H,--hardware INT Set robot hardware type (most likely 8) use with --interface.		-H,--hardware INT Set robot hardware type (most likely 8) use with --interface.

	When the app is started at boot-time, the options ''-d -l'' is used to not start logging and not listening to the keyboard.		When the app is started at boot-time, the options "''-d -l''" is used to not start logging and not listening to the keyboard.

Jca at 16:23, 18 January 2025

2025-01-18T16:23:56Z

← Older revision		Revision as of 18:23, 18 January 2025
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	interval_liv_ms = 0		interval_liv_ms = 0
	interval_livn_ms = 10		interval_livn_ms = 10

			==Command line options==

			The teensy_interface has a few command line options, including help. The command line help is:

			cd ~/svn/robobot/teensy_interface/build
			./teensy_interface -h
			ROBOBOT app
			Usage: ./teensy_interface [OPTIONS]
			Options:
			-h,--help Print this help message and exit
			-v,--version Compiled SVN version (for uservice.cpp)
			-d,--daemon Do not listen to the keyboard (daemon mode)
			-l,--logging-off Do not start logging right away (wait for MQTT log message)
			-g,--gyro Calibrate gyro offset
			-t,--time FLOAT Open all sensors for some time (seconds)
			-n,--number INT Set name number to Teensy part [0..150] use with --interface.
			-i,--interface INT Set interface number to Teensy 0..0 (default is 0)
			-H,--hardware INT Set robot hardware type (most likely 8) use with --interface.

			When the app is started at boot-time, the options ''-d -l'' is used to not start logging and not listening to the keyboard.