Robobot processor

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Reset of Teensy configuration

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

Stop the Teensy user

If the Raspberry is running, then stop the teensy_interface

pkill teensy_interfac

The last 'e' is missing; the process names are limited to 15 characters.

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 the CRC check to make the console printout look better (interactive flag). This also prevents the Teensy from stopping communicating due to a lack of activity (60 seconds).

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 Teensy processor

reboot

Configure and calibrate

• Set a valid robot number

setidx <robot-number>
sethw 8
eew

The robot should now show the new name.

robot wheel configuration

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

confw rl rr gear TPR wb
confi 0.0750 0.0750 19 68 0.234

Line sensor

Place the robot on white tape (all sensors)

licw 100

Wait at least 100ms, then

eew

distance sensor

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

iron 1
irc A13 A50 B13 B50 1

Fair values

irc 15000 5000 15000 5000

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

Default is OK

save to flash

Save to flash and turn off interactive mode.

eew
i 0

Start the teensy_interface

Either reboot the Raspberry or start the interface manually.

Reboot

sudo reboot now

Restart (with the no-logging option)

cd ~/svn/robobot/teensy_interface/build 
./teensy_interface -l &