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 with more than one Teensy, but for Robobot, only one Teensy board is available.
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
This will, in MQTT, be split into a topic and a message.
topic: robobot/drive/T0/liv message: 731 928 962 866 888 902 828 613 50
The first part of the topic, robobot/drive/T0, is the same for all messages from the Teensy.
If you want to subscribe to all MQTT messages, the topic request could be robobot/drive/#.
