added robot setup instructions
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docs/2_ROBOT_SETUP.md
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docs/2_ROBOT_SETUP.md
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# Robot setup
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This file explains how to setup the software for the robots. It assumes that you already assembled your robot according to the instructions in 1_ASSEMBLY.md
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1 Install esptool
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-----------------
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The chip on the Wemos D1 mini is a Esp8266. In order to flash programs on this chip we will use esptool by Espressif.
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You can install it using pip:
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```
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$ pip install esptool
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```
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2 Update Motor shield firmware
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----------------------------
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The Wemos motor shield comes with a buggy firmware which has problems with the I2C communication ([see here]([buggy firmware](https://hackaday.io/project/18439-motor-shield-reprogramming))).
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Luckily, some guys figured out how to update the firmware of the STM32 on the motor shield with a custom one that fixes these issues.
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These are the necessary steps:
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#### Install arm compiler:
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```
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$ sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
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$ sudo apt-get update
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$ sudo apt-get install gcc-arm-embedded
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```
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#### Build the firmware:
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Get the firmware from: [https://github.com/pbugalski/wemos_motor_shield](https://github.com/pbugalski/wemos_motor_shield)
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```
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$ make
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```
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-> motor_shield.bin
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#### Upload empty firmware to Wemos D1 mini
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We will program the STM32 on the motor shield using the serial USB connection from the Wemos D1 mini. The D1 mini should
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just pass through the serial communication to the STM32. For this we need to upload a dummy firmware to the D1 mini.
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1. Make sure the RTS and 3V port of the Wemos motor shield are connected by a wire (you should already have done this in the assembly instructions).
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Also make sure that the I2C bridge connection on the motor shield is set.
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2. Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable
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3. Compile the sketch below into a .bin file using the Arduino IDE -> `dummy_sketch.ino.d1_mini.bin` or use the one from `bin/dummy_sketch.ino.d1_min.bin`
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Note: If you you compile it yourself make sure you choose the Wemos D1 mini board as target for the build.
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```
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void setup() {
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// just some dummy code
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}
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void loop() {
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// just some dummy code
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}
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```
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4. Erase flash on the chip:
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```
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$ esptool.py --port /dev/ttyUSB0 erase_flash
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```
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5. Flash the dummy sketch:
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```
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$ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0 dummy_sketch.ino.d1_mini.bin/dummy_sketch.ino.d1_mini.bin.ino.d1_mini.bin
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```
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#### Install stm32flash utility:
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To upload a new firmware to the STM32 that is running on the motor shield we need the STM32 flash utility.
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You can download from: [https://sourceforge.net/projects/stm32flash/files/](https://sourceforge.net/projects/stm32flash/files/)
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You should then build and install it using the usual:
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```
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$ make
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$ make install
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```
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#### Connect the motor shield to D1 mini:
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Use some jumper cables to connect the motor shield and the D1 mini in the following way.
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|Wemos D1 mini | Motor shield|
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|--------------|---------------|
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|TX | D1|
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|RX | D2|
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|3V | 3V|
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|GND | GND |
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In addition on the motor shield connect 3V to RTS
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Also make sure that the I2C bridge connection on the motor shield is set.
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Then, connect the D1 mini to your PC using a micro USB cable.
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#### Flash the new firmware on the STM32:
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1. Check if you can communicate with the STM32:
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```
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$ stm32flash /dev/ttyUSB0
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```
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Output should be:
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```
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Interface serial_posix: 57600 8E1
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Version : 0x31
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Option 1 : 0x00
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Option 2 : 0x00
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Device ID : 0x0444 (STM32F03xx4/6)
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- RAM : 4KiB (2048b reserved by bootloader)
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- Flash : 32KiB (size first sector: 4x1024)
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- Option RAM : 16b
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- System RAM : 3KiB
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```
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2. Unlock shield:
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```
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$ stm32flash -k /dev/ttyUSB0
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```
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Output should be:
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```
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stm32flash 0.5
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http://stm32flash.sourceforge.net/
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Interface serial_posix: 57600 8E1
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Version : 0x31
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Option 1 : 0x00
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Option 2 : 0x00
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Device ID : 0x0444 (STM32F03xx4/6)
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- RAM : 4KiB (2048b reserved by bootloader)
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- Flash : 32KiB (size first sector: 4x1024)
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- Option RAM : 16b
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- System RAM : 3KiB
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Read-UnProtecting flash
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Done.
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```
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3. Flash new motor driver:
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```
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$ stm32flash -f -v -w motor_shield.bin /dev/ttyUSB0
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```
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Output should be:
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```
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stm32flash 0.5
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http://stm32flash.sourceforge.net/
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Using Parser : Raw BINARY
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Interface serial_posix: 57600 8E1
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Version : 0x31
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Option 1 : 0x00
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Option 2 : 0x00
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Device ID : 0x0444 (STM32F03xx4/6)
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- RAM : 4KiB (2048b reserved by bootloader)
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- Flash : 32KiB (size first sector: 4x1024)
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- Option RAM : 16b
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- System RAM : 3KiB
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Write to memory
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Erasing memory
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Wrote and verified address 0x08000be8 (100.00%) Done.
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```
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#### Cleaning up
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Finally, you can remove the wire between RTS and 3V.
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At this point, please make sure that the I2C bridge on the Wemos Motor shield is connected. This is necessary for I2C to work correctly.
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Flash Micropython to the Wemos D1 mini
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--------------------------------------
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The next step is to flash the micropython firmware to
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```
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$ esptool.py --port /dev/ttyUSB0 erase_flash
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$ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0 esp8266-20190125-v1.10.bin
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```
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Setting up webrepl:
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Connect using picocom:
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```
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$ picocom /dev/ttyUSB0 -b115200
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```
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3. Connect via picocom and enable Webrepl
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```
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>>> import webrepl_setup
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```
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-> enable, set password and reboot
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Connect to local wifi:
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```
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>>> import network
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>>> sta_if = network.WLAN(network.STA_IF)
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>>> sta_if.active(True)
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>>> sta_if.connect("<SSID>", "<PW>")
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>>> sta_if.ifconfig() # this prints the IP
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```
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Use access point to connect:
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```
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>>> import network
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>>> ap_if = network.WLAN(network.AP_IF)
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>>> ap_if.active(True)
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>>> ap_if.ifconfig() # this prints the IP
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```
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Default password for the access point: `micropythoN`
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Connect via [online WebREPL](http://micropython.org/webrepl):
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- Enter IP from above and click connect. Login with password.
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- Upload boot.py via Webrepl to automatically connect to wifi and start webrepl after reboot
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- You can also upload a file called main.py or just work in the webrepl terminal.
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4. Connect via webpage and upload boot.py, main.py, etc.
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Modify boot.py before uploading!
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5. Connect to the robot and test the connection
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The next step is to setup the position detection using ROS. For this see the ROS_SETUP.txt
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