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Small robot intended for control-1 exercises.


It consist of an 72MHz 32 ARM processor on a teensy 3.1 board, controlling an pololu motor controller and 2 small pololu motors with magnetic encoder. a further sensor is sparkfun 9050 IMU. Supplied by 12V 2A from 220V on a thin wire.
REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]).


* [[Software installation]] and tool-charin
[[file:foto_of_Alba_40.png | 250px]]
* [[Design calculations]]


==User interface==
Figur 1. Version 2 of Regbot.


==Software installation==
== Overview ==


===Toolchain installation===
This section is intended for users.


Install arduino 1.05 from
[[Getting started]] with REGBOT GUI.
http://arduino.cc/en/Main/OldSoftwareReleases
(newer arduino versions is not supported - as of September 2014)


Then get and install the teensey tool installer from:
[[User interface]], how to configure the robot using the Regbot client.
https://www.pjrc.com/teensy/td_download.html


Run the installer - on 32 bit linux it is:
[[Control]] overview gives some information on control possibilities.
chmod +x teensyduino.32bit 
./teensyduino.32bit


It installes (only) as a merge with the arduino installed directory (arduino-1.0.5).
[[Mission]], how to write a mission.


From this installation we need only some hardware parts in
[[Regbot calibration]] for better performance.


arduino-1.0.5/hardware/tools
[[Regbot maintenance]] for longer life.
arduino-1.0.5/hardware/teensy/cores/teensy3


===Teensy loader and udev rules===
[[Regbot GUI]] installation.


Teensy loader:
[[Regbot hardware board]].
Get the loader - and udev rules - from
https://www.pjrc.com/teensy/loader.html


The teensy loader needs to be unpacked  - on linux it is:
== Install notes ==
gunzip teensy.gz
chmod +x teensy


For Linux get also the udev rules, and copy them to /etc/udev/rules.d to get read-write access to the usb connection (/dev/ttyACM0) and others:
This section is primarily installation notes and more detailed descriptions not usually needed by the end-user.


sudo cp 49-teensy.rules /etc/udev/rules.d/
[[Regbot command interface]] - command list.


===Regbot software===
[[Software installation]] on REGBOT (Arduino) and tool-chain - Linux
Then get the regbot software (by mail from jca@elektro.dtu.dk)


It consist of a series of directories but is missing the tools directory,
[[Regbot old stuff]]
copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory,
or set the TOOLPATH in the makefile.
 
In the Makefile ensure that the first part is set reasonable, i.e. something like :
 
# The name of your project (used to name the compiled .hex file)
TARGET = regbot
# The teensy version to use, 30 or 31
TEENSY = 31
TEENSY_CORE_SPEED = 72000000
OPTIONS = -DUSB_SERIAL -DLAYOUT_US_ENGLISH
# directory to build in
BUILDDIR = $(CURDIR)/build
#************************************************************************
# Location of Teensyduino utilities, Toolchain, and Arduino Libraries.
# To use this makefile without Arduino, copy the resources from these
# locations and edit the pathnames.  The rest of Arduino is not needed.
#***********************************************************************
# path location for Teensy Loader, teensy_post_compile and teensy_reboot
BASEPATH = .
TOOLSPATH = $(BASEPATH)/tools
# path location for Teensy 3 core
COREPATH = $(BASEPATH)/teensy3
# path location for Arduino libraries (not needed)
LIBRARYPATH = libraries
# path location for the arm-none-eabi compiler
COMPILERPATH = $(TOOLSPATH)/arm-none-eabi/bin
#************************************************************************
# Settings below this point usually do not need to be edited
# - mostly that all source-code (*.c and *.cpp) needs to be compiled and linked
#************************************************************************
...

Latest revision as of 14:17, 17 October 2024

REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) (author).

Figur 1. Version 2 of Regbot.

Overview

This section is intended for users.

Getting started with REGBOT GUI.

User interface, how to configure the robot using the Regbot client.

Control overview gives some information on control possibilities.

Mission, how to write a mission.

Regbot calibration for better performance.

Regbot maintenance for longer life.

Regbot GUI installation.

Regbot hardware board.

Install notes

This section is primarily installation notes and more detailed descriptions not usually needed by the end-user.

Regbot command interface - command list.

Software installation on REGBOT (Arduino) and tool-chain - Linux

Regbot old stuff