RIC start and stop
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Start
Connect the big battery (60Ah 24V) using the read Anderson plug.
Turn on the on-off switch on the top of the electronics box.
It should now turn on.
- The two displays should show battery voltage (between 24.5 and 26.6V).
- The right is the electronics voltage
- The left is the voltage to the motor controllers. This should be off if the emergency switch is pushed.
- After a while (approx 90 seconds), the small (blue) display on the Teensy board should show the IP of the drive Raspberry Pi (currently named "Saturn").
Data recording
By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. This will record most of the available data, like:
- Odometry
- Gyro and accelerometer data from the on-board IMU.
- Motor voltage and velocity of each wheel.
- MQTT communication
- GNSS data (when operational)
This data will be on the Pi in this directory
/home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss
The date and time part will be when the interface started. Note that, for now, it requires that the Pi be on a public network.
The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented.
Stop
To stop and shut down, turn off the on-off switch. There will be a delay of up to 60 seconds before the shutdown is implemented. If still on after 2 minutes, then unplug the battery.
To stop and ensure the integrity of the logfiles, the Raspberry Pi should be shut down properly. The hardware is in place, but the software is not.
