Robobot processor: Difference between revisions
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== Reset of Teensy configuration == | == Reset of Teensy configuration == | ||
=== Fresh software | Configuration commands to update or initialize a Robobot with version 8 PCB. | ||
=== Stop the Teensy user === | |||
If the Raspberry is running, then stop the ''teensy_interface'' | |||
pkill teensy_interfac | |||
The last 'e' is missing; the process names are limited to 15 characters. | |||
=== Fresh software === | |||
Upload the newly compiled software (from Raspberry or directly from a PC), e.g. | Upload the newly compiled software (from Raspberry or directly from a PC), e.g. | ||
| Line 15: | Line 25: | ||
Remember to hold the ''power'' button. | Remember to hold the ''power'' button. | ||
Disable the CRC check to make the console printout look better (interactive flag). This also prevents the Teensy from stopping communicating due to a lack of activity (60 seconds). | |||
i 1 | |||
=== Fresh flash configuration === | |||
If the flash configuration has changed, then use these commands. | If the flash configuration has changed, then use these commands. | ||
* Set robot number to ''invalid'': | * Set robot number to ''invalid'' and save to flash: | ||
setidx 0 | setidx 0 | ||
* Reboot the processor | eew | ||
* Reboot the Teensy processor | |||
reboot | |||
=== Configure and calibrate === | |||
* Set a valid robot number | * Set a valid robot number | ||
setidx <robot-number> | setidx <robot-number> | ||
sethw 8 | sethw 8 | ||
eew | eew | ||
The robot should now show the new name. | |||
==== robot wheel configuration ==== | |||
Defaults should be OK for Robobot (to view current configuration, use ''confi''.) | |||
confw rl rr gear TPR wb | confw rl rr gear TPR wb | ||
confi 0.0750 0.0750 19 68 0.234 | |||
licw | |||
==== Line sensor ==== | |||
Place the robot on white tape (all sensors) | |||
licw 100 | |||
Wait at least 100ms, then | |||
eew | eew | ||
==== distance sensor ==== | |||
Values need to be found; use ''sub ir 200'' to see regular values (lists ''ir m m AD1 AD2''). | |||
iron 1 | |||
irc A13 A50 B13 B50 1 | irc A13 A50 B13 B50 1 | ||
Fair values | |||
irc 15000 5000 15000 5000 | |||
==== gyro calibration ==== | |||
gyroc | gyroc | ||
==== logger flags ==== | |||
Use ''lfli'' to see current flags. | |||
lfls 0 acc gyro 0 0 motv mota enc vel turnrate pose line dist batt timing 0 0 | lfls 0 acc gyro 0 0 motv mota enc vel turnrate pose line dist batt timing 0 0 | ||
Default is OK | |||
==== save to flash ==== | |||
Save to flash and turn off interactive mode. | |||
eew | eew | ||
i 0 | |||
=== Start the ''teensy_interface'' === | |||
Either reboot the Raspberry or start the interface manually. | |||
Reboot | |||
sudo reboot now | |||
Restart (with the no-logging option) | |||
cd ~/svn/robobot/teensy_interface/build | |||
./teensy_interface -l & | |||
Latest revision as of 08:34, 1 March 2025
Back to Robobot
Reset of Teensy configuration
Configuration commands to update or initialize a Robobot with version 8 PCB.
Stop the Teensy user
If the Raspberry is running, then stop the teensy_interface
pkill teensy_interfac
The last 'e' is missing; the process names are limited to 15 characters.
Fresh software
Upload the newly compiled software (from Raspberry or directly from a PC), e.g.
./upload Teensy Loader, Command Line, Version 2.3 Read "build/teensy_firmware_8.ino.hex": 202752 bytes, 2.5% usage Waiting for Teensy device... (hint: press the reset button)
Remember to hold the power button.
Disable the CRC check to make the console printout look better (interactive flag). This also prevents the Teensy from stopping communicating due to a lack of activity (60 seconds).
i 1
Fresh flash configuration
If the flash configuration has changed, then use these commands.
- Set robot number to invalid and save to flash:
setidx 0 eew
- Reboot the Teensy processor
reboot
Configure and calibrate
- Set a valid robot number
setidx <robot-number> sethw 8 eew
The robot should now show the new name.
robot wheel configuration
Defaults should be OK for Robobot (to view current configuration, use confi.)
confw rl rr gear TPR wb confi 0.0750 0.0750 19 68 0.234
Line sensor
Place the robot on white tape (all sensors)
licw 100
Wait at least 100ms, then
eew
distance sensor
Values need to be found; use sub ir 200 to see regular values (lists ir m m AD1 AD2).
iron 1 irc A13 A50 B13 B50 1
Fair values
irc 15000 5000 15000 5000
gyro calibration
gyroc
logger flags
Use lfli to see current flags.
lfls 0 acc gyro 0 0 motv mota enc vel turnrate pose line dist batt timing 0 0
Default is OK
save to flash
Save to flash and turn off interactive mode.
eew i 0
Start the teensy_interface
Either reboot the Raspberry or start the interface manually.
Reboot
sudo reboot now
Restart (with the no-logging option)
cd ~/svn/robobot/teensy_interface/build ./teensy_interface -l &
