Fejemis repository
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Contents |
Software
The software is in an SVN (subversion) repository, SVN is maintained by Adobe.
ROS bridge
The ROS bridge is in a separate SVN repository
Make a checkout (open access) in the ROS2 workspace, i.e.
cd ~/fejemis_ws/src svn co svn://repos.gbar.dtu.dk/jcan/fejemis_bridge bridge
After this, the bridge could be built and run by:
cd ~/fejemis_ws/ colcon build source install/setup.bash ros2 run bridge hw_bridge
Teensy firmware and support stuff
Make a checkout (open access)
svn co svn://repos.gbar.dtu.dk/jcan/fejemis
This will extract a directory structure like this
fejemis/ doc # documents related to project fejemis-brush # EAGLE project with schematic for brush and front-wheel control fejemis_drive # Main firmware (Teensy 3.5 based) for wheel and power control fejemis_front # Firmware for brush and front wheel control (Teensy 3.2 based) fejemis_gui # QT-based graphical user interface for configuration and calibration of the firmware. 3D-print
Tool chain
Teensy firmware
The teensy based firmware builds on Arduino library with the Teensyduino extension. The compilation is Makefile based (rather than using the Arduino tool). But arduino tool can be used too, if the main C++ file is renamed to .ino. The main files are:
fejemis/fejemis_drive/udrive.cpp fejemis/fejemis_front/main.cpp
The Makefile assumes that arduino and teensyduino are installed - see Makefile for base directory.
fejemis fejemis_drive Makefile (compiled with 'make', not Arduino GUI.) src (source files *.cpp and *.h) fejemis_front Makefile src (source files *cpp and *.h)
cd ~/fejemis/fejemis_drive make -j6 (should make a fejemis_drive.hex file) make upload (with the Teensy available on USB as the only Teensy device)
Same method for fejemis_front.
TY commander
An alternative to the teensy firmware loader, the TY commander is fine and can handle more than one Teensy, and includes a serial console (eliminating the need for Putty)
See https://github.com/Koromix/tytools
The GUI
The graphical user interface is QT and Python-based and requires the QT tool-chain and Python3 to be installed.
The interface is best with a direct connection to one of the Teensy processors directly using USB.
A small number of Python packages are needed too:
> pip install pyqt5 > pip install pyqtgraph > pip install pyserial
Run with
cd fejemis/fejemis_gui python3 fejemis_gui.py