Robobot teensy interface

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Teensy interface

The Teensy_interface app has the functions:

• Translate between the USB connection and the MQTT protocol.
• Adds motor velocity control (allow control using linear velocity and rotation velocity)
• Allow log of almost all relevant data to individual logfiles. Intended for debugging and import into Matlab.
• Monitors the IP addresses of the Raspberry and sends the result to the small Teensy display.

The app is configured with the file robot.ini

Teensy to MQTT

The teensy_interface app can interface more than one Teensy, but for Robobot, one Teensy board is available only.

The Teensy data can be converted to an MQTT message directly, which is the default method.

The Teensy data message for raw line-sensor AD values has the format.:

liv 731 928 962 866 888 902 828 613 50

The liv is the keyword for the message. The next eight values are the raw AD (difference from illuminated and not), and the last value is the number of ms the values are averaged over (depending on the desired data rate).

This will in MQTT be split in a topic and a message.

topic: robobot/drive/T0/liv 
message: 731 928 962 866 888 902 828 613 50