Fejemis repository
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== Software == | == Software == | ||
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The software is in an SVN (subversion) repository, SVN is maintained by Adobe. | 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) | Make a checkout (open access) | ||
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fejemis/ | fejemis/ | ||
doc # documents related to project | doc # documents related to project | ||
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fejemis-brush # EAGLE project with schematic for brush and front-wheel control | 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_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_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. | fejemis_gui # QT-based graphical user interface for configuration and calibration of the firmware. | ||
| + | 3D-print | ||
== Tool chain == | == Tool chain == | ||
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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) | ||
| + | |||
| + | 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 | ||
| − | === The | + | === The GUI === |
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
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| − | + | 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. | |
| − | + | ||
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| − | + | A small number of Python packages are needed too: | |
| − | + | ||
| − | + | ||
| − | A small number of Python | + | |
> pip install pyqt5 | > pip install pyqt5 | ||
Latest revision as of 15:01, 13 November 2023
Back to fejemis
Contents |
[edit] Software
The software is in an SVN (subversion) repository, SVN is maintained by Adobe.
[edit] 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
[edit] 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
[edit] Tool chain
[edit] 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.
[edit] 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
[edit] 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
