Compile and upload code: Difference between revisions
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[[file:MS_Visual_studio_code_1.png | 500px]] | [[file:MS_Visual_studio_code_1.png | 500px]] | ||
Connect the robot using a USB. Turning on the robot is not strictly | Connect the robot using a USB. Turning on the robot is not strictly necessary, as the USB will provide sufficient power for the upload. | ||
Use the PlatformIO -> PROJECT TASKS -> teensy 4.1 -> General -> Upload and Monitor | Use the PlatformIO -> PROJECT TASKS -> teensy 4.1 -> General -> Upload and Monitor | ||
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[[File: MS_Visual_studio_code_upload.png | 500px]] | [[File: MS_Visual_studio_code_upload.png | 500px]] | ||
Note that at the bottom, there are two lines from the robot (marked in blue), something like: | Note that at the bottom, there are one or two lines from the robot (marked in blue), something like: | ||
% Robot | % Robot 42 Aya (PCB version 6.3, SVN version 40, battery 11.5 V) | ||
This indicates that the firmware is running | This indicates that the firmware is running. | ||
There are a few commands available from the command line, e.g. type ''help'' and return to get: | There are a few commands available from the command line, e.g. type ''help'' and return to get: | ||
| Line 40: | Line 39: | ||
% -- reboot Reboot Teensy | % -- reboot Reboot Teensy | ||
% -- log Print log | % -- log Print log | ||
% -- help Send | % -- help Send online help | ||
%% USB ------- | %% USB ------- | ||
% -- echo A Send received characters back as received. A=0 not, A=1 yes (is=1) | % -- echo A Send received characters back as received. A=0 not, A=1 yes (is=1) | ||
Revision as of 16:34, 30 August 2025
Back to Basebot.
Compile the code
Use the PlatformIO -> PROJECT TASKS -> teensy 4.1 -> General -> build to compile the project.
It should now compile with a "SUCCESS" result, something like the one shown here:
Click on the "explorer" and find the source code:
Connect the robot using a USB. Turning on the robot is not strictly necessary, as the USB will provide sufficient power for the upload.
Use the PlatformIO -> PROJECT TASKS -> teensy 4.1 -> General -> Upload and Monitor
This should open the loader app, find the correct USB port, upload the code and start the serial monitor.
Note that at the bottom, there are one or two lines from the robot (marked in blue), something like:
% Robot 42 Aya (PCB version 6.3, SVN version 40, battery 11.5 V)
This indicates that the firmware is running.
There are a few commands available from the command line, e.g. type help and return to get:
help % Available commands from Basebot: %% Robot settings ------- % -- setidx N Set ID to N (sets robot name) (id=42) % -- sethw P Set PCB version to P (is=9) 9=PCB6.3 % -- start Start (same as start button) % -- version Get version in SVN (is 37) % -- power 0/1 12V power 1=on (is 1) % -- reboot Reboot Teensy % -- log Print log % -- help Send online help %% USB ------- % -- echo A Send received characters back as received. A=0 not, A=1 yes (is=1) %% Motor ------- % -- motv m1 m2 Set motor voltage -12.0..12.0 - and enable motors % -- motfrq Set motor PWM frequency [100..100000], is 80000 % -- stop Calls the function stop(0.02) %% Encoder settings ------- % -- confw ppr Set configuration (ppr: pulse per revolution, is 48) % -- encf F C Use fast estimate (F=0 delay but cleaner, F=1 faster, is 0; C=0 don't compensate, U=1 compensate, is=0) %% IMU ------- % -- gyroc Start gyro calibration (finished=1) %% EE (configuration flash) -------- % -- eew Save configuration to EE-Prom (flash) % -- eer Read configuration from EE-Prom
