Motor drive

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
./compile

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.

~/scorpi/motor_drive$ ./upload
Teensy Loader, Command Line, Version 2.3
Read "build/motor_drive.ino.hex": 144384 bytes, 1.8% usage
Waiting for Teensy device...
(hint: press the reset button)

Press had hold "power reset"
press reset (load) button on the Teensy
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.