Fejemis repository

Back to fejemis

Software

The software is in an SVN (subversion) repository, SVN is maintained by Adobe.

ROS bridge =

The ROS bridge is in a separate SVN repository

Make a checkout (open access) in the ROS2 workspace, i.e.

cd ~/fejemis_ws/src
svn co svn://repos.gbar.dtu.dk/jcan/fejemis_bridge bridge

After this, the bridge could be built and run by:

cd ~/fejemis_ws/
colcon build
source install/setup.bash
ros2 run bridge hw_bridge

Teensy firmware and support stuff =

Make a checkout (open access)

svn co svn://repos.gbar.dtu.dk/jcan/fejemis

This will extract a directory structure like this

fejemis/
   doc               # documents related to project
   fejemis-brush     # EAGLE project with schematic for brush and front-wheel control
   fejemis_drive     # Main firmware (Teensy 3.5 based) for wheel and power control
   fejemis_front     # Firmware for brush and front wheel control (Teensy 3.2 based)
   fejemis_gui       # QT-based graphical user interface for configuration and calibration of the firmware.
   3D-print

Tool chain

Teensy firmware

The teensy based firmware builds on Arduino library with the Teensyduino extension. The compilation is Makefile based (rather than using the Arduino tool). But arduino tool can be used too, if the main C++ file is renamed to .ino. The main files are:

fejemis/fejemis_drive/udrive.cpp
fejemis/fejemis_front/main.cpp

The Makefile assumes that arduino and teensyduino are installed - see Makefile for base directory.

fejemis
  fejemis_drive
    Makefile (compiled with 'make', not Arduino GUI.)
    src (source files *.cpp and *.h)
  fejemis_front
    Makefile
    src (source files *cpp and *.h)
    

cd ~/fejemis/fejemis_drive
make -j6       (should make a fejemis_drive.hex file)
make upload    (with the Teensy available on USB as the only Teensy device)

Same method for fejemis_front.

TY commander

An alternative to the teensy firmware loader, the TY commander is fine and can handle more than one Teensy, and includes a serial console (eliminating the need for Putty)

See https://github.com/Koromix/tytools

The bridge

The bridge is a normal C++ application.

It is called test_bridge (or short 'tbridge') and is placed in the 'ros2_ws' directory

cd ros2_ws/???
...

depricated:

cd fejemis/fejemis_bridge
mkdir build
cd build
cmake ..
make

The GUI

The graphical user interface is QT and Python-based and requires the QT tool-chain and Python3 to be installed. A small number of Python packedes are needed too:

> pip install pyqt5
> pip install pyqtgraph
> pip install pyserial

Run with

cd fejemis/fejemis_gui
python3 fejemis_gui.py