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| | ==User interface== | | ==User interface== |
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| − | ==Software installation==
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| − |
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| − | ===Toolchain installation===
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| − |
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| − | Install arduino 1.05 from
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| − | http://arduino.cc/en/Main/OldSoftwareReleases
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| − | (newer arduino versions is not supported - as of September 2014)
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| − |
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| − | Then get and install the teensey tool installer from:
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| − | https://www.pjrc.com/teensy/td_download.html
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| − |
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| − | Run the installer - on 32 bit linux it is:
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| − | chmod +x teensyduino.32bit
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| − | ./teensyduino.32bit
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| − | It installes (only) as a merge with the arduino installed directory (arduino-1.0.5).
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| − | From this installation we need only some hardware parts in
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| − |
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| − | arduino-1.0.5/hardware/tools
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| − | arduino-1.0.5/hardware/teensy/cores/teensy3
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| − |
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| − | ===Teensy loader and udev rules===
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| − |
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| − | Teensy loader:
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| − | Get the loader - and udev rules - from
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| − | https://www.pjrc.com/teensy/loader.html
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| − |
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| − | The teensy loader needs to be unpacked - on linux it is:
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| − | gunzip teensy.gz
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| − | chmod +x teensy
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| − |
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| − | 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:
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| − |
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| − | sudo cp 49-teensy.rules /etc/udev/rules.d/
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| − |
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| − | ===Regbot software===
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| − |
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| − | Then get the regbot software (by mail from jca@elektro.dtu.dk)
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| − |
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| − | It consist of a series of directories but is missing the tools directory,
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| − | copy (or link) the arduino-1.0.5/hardware/tools directory to the regbot directory,
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| − | or set the TOOLPATH in the makefile.
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| − |
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| − | In the Makefile ensure that the first part is set reasonable, i.e. something like :
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| − |
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| − | # The name of your project (used to name the compiled .hex file)
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| − | TARGET = regbot
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| − | # The teensy version to use, 30 or 31
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| − | TEENSY = 31
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| − | TEENSY_CORE_SPEED = 72000000
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| − | OPTIONS = -DUSB_SERIAL -DLAYOUT_US_ENGLISH
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| − | # directory to build in
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| − | BUILDDIR = $(CURDIR)/build
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| − | #************************************************************************
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| − | # Location of Teensyduino utilities, Toolchain, and Arduino Libraries.
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| − | # To use this makefile without Arduino, copy the resources from these
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| − | # locations and edit the pathnames. The rest of Arduino is not needed.
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| − | #***********************************************************************
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| − | # path location for Teensy Loader, teensy_post_compile and teensy_reboot
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| − | BASEPATH = .
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| − | TOOLSPATH = $(BASEPATH)/tools
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| − | # path location for Teensy 3 core
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| − | COREPATH = $(BASEPATH)/teensy3
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| − | # path location for Arduino libraries (not needed)
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| − | LIBRARYPATH = libraries
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| − | # path location for the arm-none-eabi compiler
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| − | COMPILERPATH = $(TOOLSPATH)/arm-none-eabi/bin
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| − | #************************************************************************
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| − | # Settings below this point usually do not need to be edited
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| − | # - mostly that all source-code (*.c and *.cpp) needs to be compiled and linked
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| − | #************************************************************************
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| − | ...
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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.
