Robobot 2b: Difference between revisions
| Line 49: | Line 49: | ||
This should be recompiled if there are any changes. | This should be recompiled if there are any changes. | ||
Changes will be implemented after a reboot, or the interface is restarted: | |||
pkill teensy_int | |||
./teensy_interface -l | |||
==== The Teensy 4.1 firmware ==== | ==== The Teensy 4.1 firmware ==== | ||
Revision as of 08:09, 18 January 2025
Back to Robobot
Update software
Once connected to the Raspberry Pi of the robot, update the software:
Update operating system
The operating system is the recommended PI-OS 64bit system build on Debian.
Update using the commands:
sudo apt update sudo apt dist-upgrade
The sudo is required to get administrator (super-user) privileges. the password is the users password.
Update the Robot software
The Robobot software is on an SVN (subversion) repository, update to newest version using:
cd svn/robobot svn update
If C++ files were updated, then these apps need to be recompiled, continue with next section:
Recompile base software
When connected to the robot recompile the relevant software:
IP display
The ip_disp can show the robots IP on the robot display, it further monitors the start button and starts the Python mission app.
In the directory /home/local/svn/robobot/ip_disp/build:
cd /home/local/svn/robobot/ip_disp/build make -j3
This should be recompiled if there are any changes.
Teensy - MQTT interface
The teensy_interface makes the robot interface available using the MQTT protocol and thus makes it available over the net.
In the directory /home/local/svn/robobot/teensy_interface/build:
cd /home/local/svn/robobot/teensy_interface/build make -j3
This should be recompiled if there are any changes. Changes will be implemented after a reboot, or the interface is restarted:
pkill teensy_int ./teensy_interface -l
The Teensy 4.1 firmware
The Robobot version of the Teensy firmware handles all (most) of the sensor and actuator interfaces.
The firmware in the /home/local/svn/robobot/teensy_firmware_8 directory:
cd /home/local/svn/robobot/teensy_firmware_8 ./compile (takes 5-30 seconds) ./upload Waiting for Teensy device... (hint: press the reset button)
Do not press the reset button (the small button on the Teensy board) without pressing and holding the power button on the main board during the upload. See here for details on mainboard buttons.
The power button ensures the power (also to the Raspberry) during the upload. If the power fails during upload, then press and hold the power button while the Raspberry boots, and you log on and repeat the upload.
