Robobot processor

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Reset of Teensy configuration

Configuration commands to update or initialize a Robobot with version 8 PCB.

Fresh software

Upload the newly compiled software (from Raspberry or directly from a PC), e.g.

./upload
Teensy Loader, Command Line, Version 2.3
Read "build/teensy_firmware_8.ino.hex": 202752 bytes, 2.5% usage
Waiting for Teensy device...
 (hint: press the reset button)

Remember to hold the power button.

Disable CRC check, just so that the console printout looks better (interactive flag).

i 1

Fresh flash configuration

If the flash configuration has changed, then use these commands.

• Set robot number to invalid and save to flash:

setidx 0
eew

• Reboot the processor

reboot

Configure and calibrate

• Set a valid robot number

setidx <robot-number>
sethw 8
eew

robot wheel configuration

Defaults should be OK for Robobot (to view current configuration use confi.)

confw rl rr gear TPR wb

Line sensor

Place robot on white tape (all sensors)

licw
eew

distance sensor

Values need to be found, use sub it 200 to see regular values (lists ir m m AD1 AD2).

irc A13 A50 B13 B50 1

gyro calibration

gyroc

logger flags

Use lfli to see current flags.

lfls 0 acc gyro 0 0 motv mota enc vel turnrate pose line dist batt timing 0 0

save to flash

eew
i 0