|
|
| (222 intermediate revisions by 2 users not shown) |
| Line 1: |
Line 1: |
| − | 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.
| + | REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]). |
| | | | |
| − | ==Software installation==
| + | [[file:foto_of_Alba_40.png | 250px]] |
| | | | |
| − | ===Toolchain installation===
| + | Figur 1. Version 2 of Regbot. |
| | | | |
| − | Install arduino 1.05 from
| + | == Overview == |
| − | 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:
| + | This section is intended for users. |
| − | https://www.pjrc.com/teensy/td_download.html
| + | |
| | | | |
| − | Run the installer - on 32 bit linux it is:
| + | [[Getting started]] with REGBOT GUI. |
| − | chmod +x teensyduino.32bit
| + | |
| − | ./teensyduino.32bit
| + | |
| | | | |
| − | It installes (only) as a merge with the arduino installed directory (arduino-1.0.5).
| + | [[User interface]], how to configure the robot using the Regbot client. |
| | | | |
| − | From this installation we need only some hardware part in
| + | [[Control]] overview gives some information on control possibilities. |
| | | | |
| − | arduino-1.0.5/hardware/tools
| + | [[Mission]], how to write a mission. |
| − | arduino-1.0.5/hardware/teensy/cores/teensy3
| + | |
| | | | |
| − | ===Teensy loader and udev rules===
| + | [[Regbot calibration]] for better performance. |
| | | | |
| − | Teensy loader:
| + | [[Regbot maintenance]] for longer life. |
| − | 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:
| + | [[Regbot GUI]] installation. |
| − | 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:
| + | == Install notes == |
| | | | |
| − | sudo cp 49-teensy.rules /etc/udev/rules.d/
| + | This section is primarily installation notes and more detailed descriptions not usually needed by the end-user. |
| | | | |
| − | ===Regbot software===
| + | [[Regbot command interface]] - command list. |
| − |
| + | |
| − | 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,
| + | [[Software installation]] on REGBOT (Arduino) and tool-chain - Linux |
| − | 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 :
| + | [[Regbot old stuff]] |
| − | | + | |
| − | # 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
| + | |
| − | #************************************************************************
| + | |
| − | ...
| + | |
REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) (author).
Figur 1. Version 2 of Regbot.
This section is primarily installation notes and more detailed descriptions not usually needed by the end-user.
