Fejemis repository

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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_bridge    # hardware abstraction node in PC to access settings and translate to ROS
   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.

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 libraries are linked to the Makefile directory, e.g. from my arduino-1.8.15 installation:

fejemis
  fejemis_drive
    build
    libraries -> /home/jca/Downloads/arduino-1.8.15/hardware/teensy/avr/libraries/
    teensy3 -> /home/jca/Downloads/arduino-1.8.15/hardware/teensy/avr/cores/teensy3
    tools -> /home/jca/Downloads/arduino-1.8.15/hardware/tools/
    teensy -> tools/teensy   # firmware loader

Using symbolic link commands like (Ubuntu Linux 20.04):

cd fejemis/fejemis_drive
ln -s /home/jca/Downloads/arduino-1.8.15/hardware/teensy/avr/libraries
ln -s /home/jca/Downloads/arduino-1.8.15/hardware/teensy/avr/cores/teensy3
ln -s /home/jca/Downloads/arduino-1.8.15/hardware/tools/
ln -s tools/teensy

after these links are in place, just run make

make -j6       (should make a fejemis_drive.hex file)
make upload    (with the Teensy available on USB as the only Teensy device)

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