Fejemis repository

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Software

NB! at this point in time, the software is under development, so don't expect too much.

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

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_bridge    # hardware abstraction node in PC to access settings and translate to ROS
   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.

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 bridge

The bridge is a normal C++ application.

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:

* Serial
* qt-graph