Fejemis Teensy

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Drive Teensy

Block diagram with all interfaces and interface protocol

Front Teensy

Block diagram with all interfaces and interface protocol

Software structure

Figure: The Teensy software is structured with a main loop and a number of units. After reset all units are initialized in a setup function, after that the main loop is entered. The main loop services the USB and send commands to the units for decoding. At regular intervals, the sample clock tick, all units are called to execute any sample time function. Most units are interfaces to external devices such as IMU, motor drive or distance sensor. There is further support units for e.g. control.

Setup - loop overview

The setup and loop structure follows the Arduino sketch format. The file is a C++ file as the compilation is using a Makefile rather then the Arduino IDE.

The main file (main.cpp) code has this structure (shortened for clarity)

void setup()   // INITIALIZATION
{
 usb.setup();
 led.setup();
 imu.setup();
 enc.setup();
 sensor.setup();
 motor.setup();
 state.setup();
}
void loop(void)
{
 usb.send("# Starting main loop\n");
 while ( true ) 
 { // main loop
     usb.tick();     // incoming command service
   if ( startNewCycle ) // start of new control cycle
   { // mostly every 1ms
     imu.tick();     // for heading estimate
     sensor.tick();  // AD converter, e.g. battery maintenance
     irdist.tick();  // distance sensor
     enc.tick();     // wheel encoder and odometry
     state.tick();   // e.g. emergency stop
     control.tick(); // feedback control
     motor.tick();   // motor control
   }
 }
}

Unit structure

Figure: Each unit is coded in a separate file and has about the same structure. The unit is a class that holds the data from or to the device. The device is configured when the setup is called. The data from the device, or calculated from the data, is made available for subscription using a subscription class called USubss. The device is accessed using a standard Arduino-type library, for e.g. a I2C or an A/D interface. The unit may have configuration that need to be saved, e.g. calibration data or device mode that can be set from the interface, but needs to be saved.

Subscription

Standardized setup of data subscription

Command decode

On-line help.

Configuration save

Use of configuration flash.

Update tick

Sample rate and sensor calculation