addef fritzing sketches

docs/2_ROBOT_SETUP.md

@@ -1,209 +0,0 @@
-# Robot setup
-
-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
-
-1 Install esptool
------------------
-The chip on the Wemos D1 mini is a Esp8266. In order to flash programs on this chip we will use esptool by Espressif.
-You can install it using pip:
-```
-$ pip install esptool
-```
-
-2 Update Motor shield firmware
-----------------------------
-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))). 
-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.
-
-These are the necessary steps:
-#### Install arm compiler:
-```
-$ sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
-$ sudo apt-get update
-$ sudo apt-get install gcc-arm-embedded
-```
-
-#### Build the firmware:
-
-Get the firmware from: [https://github.com/pbugalski/wemos_motor_shield](https://github.com/pbugalski/wemos_motor_shield)
-```
-$ make
-```
--> motor_shield.bin
-
-#### Upload empty firmware to Wemos D1 mini
-We will program the STM32 on the motor shield using the serial USB connection from the Wemos D1 mini. The D1 mini should
-just pass through the serial communication to the STM32. For this we need to upload a dummy firmware to the D1 mini.
-
-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).
-Also make sure that the I2C bridge connection on the motor shield is set.
-
-2. Plug the Wemos D1 mini on top of the motor shield and then connect it to your PC using a micro USB cable
-
-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`
-
-Note: If you you compile it yourself make sure you choose the Wemos D1 mini board as target for the build.
-
-```
-void setup() {
-  // just some dummy code
-}
-
-void loop() {
-  // just some dummy code
-}
-```
-4. Erase flash on the chip:
-```
-$ esptool.py --port /dev/ttyUSB0 erase_flash
-```
-5. Flash the dummy sketch:
-```
-$ 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
-``` 
-
-#### Install stm32flash utility:
-To upload a new firmware to the STM32 that is running on the motor shield we need the STM32 flash utility.
-You can download from: [https://sourceforge.net/projects/stm32flash/files/](https://sourceforge.net/projects/stm32flash/files/)
-You should then build and install it using the usual:
-```
-$ make
-$ make install
-```
-
-#### Connect the motor shield to D1 mini:
-Use some jumper cables to connect the motor shield and the D1 mini in the following way.
-
-|Wemos D1 mini | Motor shield|
-|--------------|---------------|
-|TX            |  D1|
-|RX            |  D2|
-|3V            |  3V|
-|GND           |  GND |
-
-In addition on the motor shield connect 3V to RTS
-Also make sure that the I2C bridge connection on the motor shield is set.
-
-Then, connect the D1 mini to your PC using a micro USB cable.
-
-#### Flash the new firmware on the STM32:
-1. Check if you can communicate with the STM32:
-```
-$ stm32flash /dev/ttyUSB0
-```
-
-Output should be:
-```
-Interface serial_posix: 57600 8E1
-Version      : 0x31
-Option 1     : 0x00
-Option 2     : 0x00
-Device ID    : 0x0444 (STM32F03xx4/6)
-- RAM        : 4KiB  (2048b reserved by bootloader)
-- Flash      : 32KiB (size first sector: 4x1024)
-- Option RAM : 16b
-- System RAM : 3KiB
-```
-
-2. Unlock shield:
-```
-$ stm32flash -k /dev/ttyUSB0
-```
-
-Output should be:
-```
-stm32flash 0.5
-
-http://stm32flash.sourceforge.net/
-
-Interface serial_posix: 57600 8E1
-Version      : 0x31
-Option 1     : 0x00
-Option 2     : 0x00
-Device ID    : 0x0444 (STM32F03xx4/6)
-- RAM        : 4KiB  (2048b reserved by bootloader)
-- Flash      : 32KiB (size first sector: 4x1024)
-- Option RAM : 16b
-- System RAM : 3KiB
-Read-UnProtecting flash
-Done.
-```
-
-3. Flash new motor driver:
-```
-$ stm32flash -f -v -w motor_shield.bin /dev/ttyUSB0
-```
-
-Output should be:
-```
-stm32flash 0.5
-
-http://stm32flash.sourceforge.net/
-
-Using Parser : Raw BINARY
-Interface serial_posix: 57600 8E1
-Version      : 0x31
-Option 1     : 0x00
-Option 2     : 0x00
-Device ID    : 0x0444 (STM32F03xx4/6)
-- RAM        : 4KiB  (2048b reserved by bootloader)
-- Flash      : 32KiB (size first sector: 4x1024)
-- Option RAM : 16b
-- System RAM : 3KiB
-Write to memory
-Erasing memory
-Wrote and verified address 0x08000be8 (100.00%) Done.
-```
-
-#### Cleaning up
-Finally, you can remove the wire between RTS and 3V. 
-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.
-
-
-Flash Micropython to the Wemos D1 mini
---------------------------------------
-The next step is to flash the micropython firmware to 
-```
-$ esptool.py --port /dev/ttyUSB0 erase_flash
-$ esptool.py --port /dev/ttyUSB0 --baud 460800 write_flash --flash_size=detect 0 esp8266-20190125-v1.10.bin
-```
-Setting up webrepl:
- Connect using picocom:
-```
-  $ picocom /dev/ttyUSB0 -b115200
-```
-3. Connect via picocom and enable Webrepl
-```
->>> import webrepl_setup
-```
-  -> enable, set password and reboot
-
-  Connect to local wifi:
-```
-  >>> import network
-  >>> sta_if = network.WLAN(network.STA_IF)
-  >>> sta_if.active(True)
-  >>> sta_if.connect("<SSID>", "<PW>")
-  >>> sta_if.ifconfig() # this prints the IP
-```
-  Use access point to connect:
-```
-  >>> import network
-  >>> ap_if = network.WLAN(network.AP_IF)
-  >>> ap_if.active(True)
-  >>> ap_if.ifconfig() # this prints the IP
-```
-  Default password for the access point: `micropythoN`
-
-Connect via [online WebREPL](http://micropython.org/webrepl):
- - Enter IP from above and click connect. Login with password.
- - Upload boot.py via Webrepl to automatically connect to wifi and start webrepl after reboot
- - You can also upload a file called main.py or just work in the webrepl terminal.
-
-
-4. Connect via webpage and upload boot.py, main.py, etc.
-Modify boot.py before uploading!
-
-5. Connect to the robot and test the connection
-
-The next step is to setup the position detection using ROS. For this see the ROS_SETUP.txt