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| Small robot intended for control-1 exercises.
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| 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]). |
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| * [[Software installation]] and tool-charin
| | [[file:foto_of_Alba_40.png | 250px]] |
| * [[Design calculations]]
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| ==User interface==
| | Figur 1. Version 2 of Regbot. |
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| ==Software installation== | | == Overview == |
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| ===Toolchain installation===
| | This section is intended for users. |
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| Install arduino 1.05 from
| | [[Getting started]] with REGBOT GUI. |
| http://arduino.cc/en/Main/OldSoftwareReleases
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| (newer arduino versions is not supported - as of September 2014)
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| Then get and install the teensey tool installer from:
| | [[Regbot_first_setup | Regbot initial settings]]. |
| https://www.pjrc.com/teensy/td_download.html
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| Run the installer - on 32 bit linux it is:
| | [[User interface]], how to configure the robot using the Regbot client. |
| chmod +x teensyduino.32bit
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| ./teensyduino.32bit
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| It installes (only) as a merge with the arduino installed directory (arduino-1.0.5).
| | [[Control]] overview gives some information on control possibilities. |
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| From this installation we need only some hardware parts in
| | [[Mission]], how to write a mission. |
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| arduino-1.0.5/hardware/tools
| | [[Regbot calibration]] for better performance. |
| arduino-1.0.5/hardware/teensy/cores/teensy3
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| ===Teensy loader and udev rules===
| | [[Regbot maintenance]] for longer life. |
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| Teensy loader:
| | [[Regbot GUI]] installation. |
| Get the loader - and udev rules - from
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| https://www.pjrc.com/teensy/loader.html
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| The teensy loader needs to be unpacked - on linux it is:
| | [[Regbot hardware board]]. |
| gunzip teensy.gz
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| chmod +x teensy
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| 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:
| | == Install notes == |
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| sudo cp 49-teensy.rules /etc/udev/rules.d/
| | This section is primarily installation notes and more detailed descriptions not usually needed by the end-user. |
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| ===Regbot software===
| | [[Regbot command interface]] - command list. |
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| Then get the regbot software (by mail from jca@elektro.dtu.dk)
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| It consist of a series of directories but is missing the tools directory,
| | [[Software installation]] on REGBOT (Arduino) and tool-chain - Linux |
| copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory,
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| or set the TOOLPATH in the makefile.
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| In the Makefile ensure that the first part is set reasonable, i.e. something like :
| | [[Regbot firmware]] introduction. |
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| # The name of your project (used to name the compiled .hex file)
| | [[Regbot balance details | Balance details]] |
| TARGET = regbot
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| # The teensy version to use, 30 or 31
| | [[Regbot old stuff]] |
| TEENSY = 31
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| TEENSY_CORE_SPEED = 72000000
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| OPTIONS = -DUSB_SERIAL -DLAYOUT_US_ENGLISH
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| # directory to build in
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| BUILDDIR = $(CURDIR)/build
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| #************************************************************************
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| # Location of Teensyduino utilities, Toolchain, and Arduino Libraries.
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| # To use this makefile without Arduino, copy the resources from these
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| # locations and edit the pathnames. The rest of Arduino is not needed.
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| #***********************************************************************
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| # path location for Teensy Loader, teensy_post_compile and teensy_reboot
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| BASEPATH = .
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| TOOLSPATH = $(BASEPATH)/tools
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| # path location for Teensy 3 core
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| COREPATH = $(BASEPATH)/teensy3
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| # path location for Arduino libraries (not needed)
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| LIBRARYPATH = libraries
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| # path location for the arm-none-eabi compiler
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| COMPILERPATH = $(TOOLSPATH)/arm-none-eabi/bin
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| #************************************************************************
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| # Settings below this point usually do not need to be edited
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| # - mostly that all source-code (*.c and *.cpp) needs to be compiled and linked
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| #************************************************************************
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| ...
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