Fejemis repository
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fejemis/fejemis_front/main.cpp | fejemis/fejemis_front/main.cpp | ||
| − | The Makefile assumes that | + | The Makefile assumes that arduino and teensyduino are installed - see Makefile for base directory. |
fejemis | fejemis | ||
fejemis_drive | fejemis_drive | ||
| − | + | Makefile (compiled with 'make', not Arduino GUI.) | |
| − | + | src (source files *.cpp and *.h) | |
| − | + | fejemis_front | |
| − | + | Makefile | |
| − | + | src (source files *cpp and *.h) | |
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| + | cd ~/fejemis/fejemis_drive | ||
make -j6 (should make a fejemis_drive.hex file) | make -j6 (should make a fejemis_drive.hex file) | ||
make upload (with the Teensy available on USB as the only Teensy device) | make upload (with the Teensy available on USB as the only Teensy device) | ||
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| + | Same method for fejemis_front. | ||
==== TY commander ==== | ==== TY commander ==== | ||
| − | An alternative to the teensy firmware loader, the TY commander is fine | + | 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 | See https://github.com/Koromix/tytools | ||
Revision as of 18:45, 17 October 2023
Back to fejemis
Contents |
Software
NB! at this point in time, the software is under development, so don't expect too much.
The software is in an SVN (subversion) repository, SVN is maintained by Adobe.
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 ROS (old ROS1 stuff)
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 bridge
The bridge is a normal C++ application.
It is called test_bridge (or short 'tbridge') and is placed in the 'ros2_ws' directory
cd ros2_ws/??? ...
depricated:
cd fejemis/fejemis_bridge mkdir build cd build cmake .. make
The GUI
The graphical user interface is QT and Python-based and requires the QT tool-chain and Python3 to be installed. A small number of Python packedes are needed too:
> pip install pyqt5 > pip install pyqtgraph > pip install pyserial
Run with
cd fejemis/fejemis_gui python3 fejemis_gui.py
