Software installation
Software installation
Toolchain installation
Install arduino 1.06 from
http://arduino.cc/en/Main/OldSoftwareReleases
(newer arduino versions is not supported - as of September 2014)
Then get and install the teensey tool installer from:
https://www.pjrc.com/teensy/td_download.html
Run the installer - on 32 bit linux it is:
chmod +x teensyduino.32bit ./teensyduino.32bit
It installes (only) as a merge with the arduino installed directory (arduino-1.0.6).
From this installation we need only some hardware parts in
arduino-1.0.6/hardware/tools arduino-1.0.6/hardware/teensy/cores/teensy3
Teensy loader and udev rules
Teensy loader: Get the loader - and udev rules - from
https://www.pjrc.com/teensy/loader.html
The teensy loader needs to be unpacked - on linux it is:
gunzip teensy.gz chmod +x teensy
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:
sudo cp 49-teensy.rules /etc/udev/rules.d/
Regbot software
Then get the regbot software (from SVN repository on previous page)
It consist of a series of directories but is missing the tools and teensy3 directories,
Copy (or link) the arduino-1.0.6/hardware/tools and arduino-1.0.6/hardware/teensy/cores/teensy3 directory to the regbot directory, or set the TOOLSPATH and COREPATH in the regbot Makefile.
Links: go into the regbot directory with the source
cd regbot ln -s ~/arduino-1.0.6/hardware/tools . ln -s ~/arduino-1.0.6/hardware/teensy/cores/teensy3 . ln -s tools/teensy .
The last link is only for convenience to start the teensy loader application.
Compile REGBOT
Compile the source
make
Common errors
* millies()
If you get
$ make [CXX] src/baro180.cpp [CXX] src/data_logger.cpp [CXX] src/i2c_t3.cpp [CXX] src/main.cpp [CXX] src/mission.cpp [CXX] src/motor_controller.cpp [CXX] src/mpu9150.cpp [CXX] src/rbuf.cpp [CXX] src/robot.cpp In file included from src/main.h:31:0, from src/robot.cpp:29: ./teensy3/usb_serial.h: In member function 'size_t usb_serial_class::readBytes(char*, size_t)': ./teensy3/usb_serial.h:97:38: error: 'millis' was not declared in this scope unsigned long startMillis = millis();
The millis() function is defined in core_pins.h, so I added this into:
nano -w ./teensy3/usb_serial.h // line 38 39 (in version 1.24) #include <inttypes.h> #include <core_pins.h> // <= added include line
* multiple main
You probably get:
make ... .../regbot/teensy3/main.cpp:4: multiple definition of `main' .../regbot/build/src/main.o:/.../regbot/src/main.cpp:434: first defined here collect2: error: ld returned 1 exit status make: *** [regbot.elf] Fejl 1
Then rename the teensy3 main file from the compile set
cd teensy3 mv teensy3/main.cpp teensy3/main.cpp.not_used
Library changes
In the teensy3 directory I needed to add an include to get everything to compile
in file teensy3/usb_serial.h add #include <core_pins.h> as in the list below:
... #ifndef USBserial_h_ #define USBserial_h_ #include <core_pins.h> #include "usb_desc.h" ...
And as there is a main.cpp file already in the teensy3 dirrectory, this need to be removed (or renamed) to avoid compilation.
mv teensy3/main.cpp teensy3/main.cpp.not
Python packages
Additional python packages used to show some graphs (if implemented)
- python-pyqtgraph
- python-qt4-gl
- python-scipy
On my 14.04 32 bit ubuntu the python-pyqtgraph package was not found using apt-get, so I
downloaded from http://www.pyqtgraph.org/ the debian package python-pyqtgraph_0.9.10-1_all.deb and installed using:
sudo dpkg -i python-pyqtgraph_0.9.10-1_all.deb