Motor drive: Difference between revisions
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chmod +x TeensyduinoInstall.linuxaarch64 | chmod +x TeensyduinoInstall.linuxaarch64 | ||
./TeensyduinoInstall.linuxaarch64 | ./TeensyduinoInstall.linuxaarch64 | ||
Microsoft Visual Studio Code with PlatformIO can also work, but it needs the same libraries (and a bit more). | |||
=== Additional Arduino libraries === | === Additional Arduino libraries === | ||
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* Adafruit-GFX-Library to get the paint functions for the display | * Adafruit-GFX-Library to get the paint functions for the display | ||
* Adafruit_SSD1306 to get the specifics for the used display | * Adafruit_SSD1306 to get the specifics for the used display | ||
cd ~/ | |||
mkdir -p git | |||
cd git | |||
git clone https://github.com/adafruit/Adafruit_BusIO.git | git clone https://github.com/adafruit/Adafruit_BusIO.git | ||
git clone https://github.com/adafruit/Adafruit_SSD1306.git | git clone https://github.com/adafruit/Adafruit_SSD1306.git | ||
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ln -s ~/git/elapsedMillis | ln -s ~/git/elapsedMillis | ||
== | === Get code from SVN === | ||
The code is available on SVN: | |||
cd | |||
svn checkout svn://repos.gbar.dtu.dk/jcan/scorpi | |||
The main package for this page is: | |||
* The motor_driver firmware for Teensy 4.1 | |||
Other parts will be described on other pages. | |||
* The teensy_interface from Teensy board(s) to MQTT | |||
* ROS2 code starts with a YDLidar driver and is in the ROS2 directory | |||
== Moror drive == | |||
Compile and upload to Teensy | Compile and upload to Teensy. | ||
cd ~/scorpi/motor_drive | cd ~/scorpi/motor_drive | ||
make | make | ||
This should produce a file called motor_drive.hex ready to be uploaded: | This should produce a file called motor_drive.hex, ready to be uploaded: | ||
NB! | NB! Before you upload, press the power reset button to avoid power shutdown. | ||
Press had hold "power reset" | Press had hold "power reset" | ||
| Line 51: | Line 71: | ||
Release "power reset" when "alive" LED starts blinking | Release "power reset" when "alive" LED starts blinking | ||
=== Raspberry 5 === | === Compile on Raspberry Pi 5 === | ||
Compiling motor drive on the Raspberry 5 failed in one of the Teensy libraries. | Compiling motor drive on the Raspberry 5 failed in one of the Teensy libraries. | ||
| Line 65: | Line 85: | ||
so all USB-host joystick support has gone. | so all USB-host joystick support has gone. | ||
OK for this project. | No joystick is OK for this project. | ||
The code compiles but does not run! | |||
The same code runs fine when compiled on a normal Ubuntu. | |||
Latest revision as of 11:57, 3 October 2024
Back to scorpi
Load arduino and Teensyduino
Install Arduino version 1.8.19 for the platform, find it here https://www.arduino.cc/en/software
Unpack in the Downloads directory (to fit the path in the Makefile)
cd ~/Downloads tar -xf arduino-1.8.19-linuxaarch64.tar.xz
Install Teensyduino from https://www.pjrc.com/teensy/td_download.html
Make the installer executable and install it on top of the Arduino installation.
chmod +x TeensyduinoInstall.linuxaarch64 ./TeensyduinoInstall.linuxaarch64
Microsoft Visual Studio Code with PlatformIO can also work, but it needs the same libraries (and a bit more).
Additional Arduino libraries
Additional libraries from Ardufruit are needed for the small display:
- Adafruit_BusIO to get additional services from the I2C interface
- Adafruit-GFX-Library to get the paint functions for the display
- Adafruit_SSD1306 to get the specifics for the used display
cd ~/ mkdir -p git cd git git clone https://github.com/adafruit/Adafruit_BusIO.git git clone https://github.com/adafruit/Adafruit_SSD1306.git git clone https://github.com/adafruit/Adafruit-GFX-Library git clone https://github.com/pfeerick/elapsedMillis.git
The obtained libraries should be included in the Arduino/Teensyduino library list, e.g. if the GIT repositories are in a ~/git directory:
cd Arduino-1.8.19/hardware/teensy/avr/libraries ln -s ~/git/Adafruit_BusIO ln -s ~/git/Adafruit-GFX-Library ln -s ~/git/Adafruit_SSD1306 ln -s ~/git/elapsedMillis
Get code from SVN
The code is available on SVN:
cd svn checkout svn://repos.gbar.dtu.dk/jcan/scorpi
The main package for this page is:
- The motor_driver firmware for Teensy 4.1
Other parts will be described on other pages.
- The teensy_interface from Teensy board(s) to MQTT
- ROS2 code starts with a YDLidar driver and is in the ROS2 directory
Moror drive
Compile and upload to Teensy.
cd ~/scorpi/motor_drive make
This should produce a file called motor_drive.hex, ready to be uploaded:
NB! Before you upload, press the power reset button to avoid power shutdown.
Press had hold "power reset" make upload Release "power reset" when "alive" LED starts blinking
Compile on Raspberry Pi 5
Compiling motor drive on the Raspberry 5 failed in one of the Teensy libraries.
This was fixed by renaming a few files in the library:
cd ~/Downloads/arduino-1.8.19/hardware/teensy/avr/libraries/USBHost_t36/ mv BluetoothConnection.cpp BluetoothConnection.cpp.not mv bluetooth.cpp bluetooth.cpp.not mv joystick.cpp joystick.cpp.not
It was probably in the Bluetooth part, but I failed to remove Bluetooth from joystick.cpp, so all USB-host joystick support has gone.
No joystick is OK for this project.
The code compiles but does not run! The same code runs fine when compiled on a normal Ubuntu.
