Regbot

Revision as of 17:25, 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.

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  
./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
#************************************************************************
...