Regbot
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===Regbot software=== | ===Regbot software=== | ||
| − | Then get the regbot software | + | Then get the regbot software (by mail from jca@elektro.dtu.dk) |
It consist of a series of directories but is missing the tools directory, | It consist of a series of directories but is missing the tools directory, | ||
| − | copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory. | + | copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory, |
| + | or set the TOOLPATH in the makefile. | ||
| − | In the Makefile ensure that the first | + | In the Makefile ensure that the first part is set reasonable, i.e. something like : |
# The name of your project (used to name the compiled .hex file) | # The name of your project (used to name the compiled .hex file) | ||
| Line 72: | Line 73: | ||
#************************************************************************ | #************************************************************************ | ||
# Settings below this point usually do not need to be edited | # Settings below this point usually do not need to be edited | ||
| + | # - mostly that all source-code (*.c and *.cpp) needs to be compiled and linked | ||
#************************************************************************ | #************************************************************************ | ||
... | ... | ||
Revision as of 16:12, 30 September 2014
Small robot intended for control-1 exercises.
It consist of an 72MHz 32 ARM processor on a teensy 3.1 board, controlling an pololu motor controller and 2 small pololu motors with magnetic encoder. a further sensor is sparkfun 9050 IMU. Supplied by 12V 2A from 220V on a thin wire.
Contents |
Software installation
Toolchain installation
Install arduino 1.05 from
http://arduino.cc/en/Main/OldSoftwareReleases
(newer arduino versions is not supported (as of September 2014)
Then get and install the teensey tool installer from:
https://www.pjrc.com/teensy/td_download.html
Run the installer - on 32 bit linux it is:
chmod +x teensyduino.32bit (or the version you need) ./teensyduino.32bit
It installes (only) as a merge with the arduino installed directory (arduino-1.0.5).
From this installation we need only some hardware part in
arduino-1.0.5/hardware/tools arduino-1.0.5/hardware/teensy/cores/teensy3
Teensy loader and udev rules
Teensy loader: Get the loader - and udev rules - from
https://www.pjrc.com/teensy/loader.html
The teensy loader needs to be unpacked - on linux it is:
gunzip teensy.gz chmod +x teensy
For Linux get also the udev rules, and copy them to /etc/udev/rules.d to get read-write access to the usb connection (/dev/ttyACM0) and others:
sudo cp 49-teensy.rules /etc/udev/rules.d/
Regbot software
Then get the regbot software (by mail from jca@elektro.dtu.dk)
It consist of a series of directories but is missing the tools directory, copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory, or set the TOOLPATH in the makefile.
In the Makefile ensure that the first part is set reasonable, i.e. something like :
# The name of your project (used to name the compiled .hex file) TARGET = regbot # The teensy version to use, 30 or 31 TEENSY = 31 TEENSY_CORE_SPEED = 72000000 OPTIONS = -DUSB_SERIAL -DLAYOUT_US_ENGLISH # directory to build in BUILDDIR = $(CURDIR)/build #************************************************************************ # Location of Teensyduino utilities, Toolchain, and Arduino Libraries. # To use this makefile without Arduino, copy the resources from these # locations and edit the pathnames. The rest of Arduino is not needed. #*********************************************************************** # path location for Teensy Loader, teensy_post_compile and teensy_reboot BASEPATH = . TOOLSPATH = $(BASEPATH)/tools # path location for Teensy 3 core COREPATH = $(BASEPATH)/teensy3 # path location for Arduino libraries (not needed) LIBRARYPATH = libraries # path location for the arm-none-eabi compiler COMPILERPATH = $(TOOLSPATH)/arm-none-eabi/bin #************************************************************************ # Settings below this point usually do not need to be edited # - mostly that all source-code (*.c and *.cpp) needs to be compiled and linked #************************************************************************ ...
