forked from Telos4/RoboRally
continued work on documentation
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@ -44,32 +44,32 @@ Assemble the chassis according to the instructions provided by adafruit ([see he
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4. In addition solder a jumper to the motor shield to connect the RTS and 3V pin. This will become important later on. Also solder the I2C bridge.
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4. In addition solder a jumper to the motor shield to connect the RTS and 3V pin. This will become important later on. Also solder the I2C bridge.
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3. In the next step we connect the battery connector pins of the battery shield to the + and - pins of the motor shield. In addition we will add a connector to the motor shield where we can plug in the battery. Here is a schematic:
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3. In the next step we connect the battery connector pins of the battery shield to the + and - pins of the motor shield. In addition we will add a connector to the motor shield where we can plug in the battery. Here is a schematic:
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*Note: I added a new connector instead of using the one already on the battery shield because the plug of my battery wouldn't fit in the on on the shield*
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*Note: I added a new connector instead of using the one already on the battery shield because the plug of my battery wouldn't fit in the on on the shield*
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|First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink: |
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|First, solder two wires to the + and - pins of the battery shield and isolate them with heat shrink: |
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|--------------|---------------|
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|--------------|---------------|
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|Cut two small pieces of wire (about 4 cm), remove the isolation on both ends and cover them with a bit of solder | |
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|Cut two small pieces of wire (about 4 cm), remove the isolation on both ends and cover them with a bit of solder | |
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|Solder the first wire to the + pin of the battery shield |  |
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|Solder the first wire to the + pin of the battery shield |  |
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| Solder the second wire to the - pin |  |
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| Solder the second wire to the - pin |  |
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| Cover both wires with small pieces of heat shrink tube |  |
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| Cover both wires with small pieces of heat shrink tube |  |
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| Heat the shrink tube with a lighter |  |
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| Heat the shrink tube with a lighter |  |
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| This is how the battery shield should look like with the two wires |  |
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| This is how the battery shield should look like with the two wires |  |
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|Next, we create a connector for the female JST 2-Pin connector for pluggin in the battery: | |
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|Next, we create a connector for the female JST 2-Pin connector for pluggin in the battery: | |
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|--------------|---------------|
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|--------------|---------------|
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| Cut two small pieces of wire (about 3 cm), remove the isolation on both ends and cover them with a bit of solder |  |
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| Cut two small pieces of wire (about 3 cm), remove the isolation on both ends and cover them with a bit of solder |  |
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| Solder the first wire to the JST connector | |
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| Solder the first wire to the JST connector | |
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| Solder the second wire to the JST connector |  |
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| Solder the second wire to the JST connector |  |
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| Cover both wires with heat shrink |  |
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| Cover both wires with heat shrink |  |
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| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* |  |
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| Solder the wires to the motor shield, paying attention to the polarity *(make sure it matches the polarity of your batteries!)* |  |
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| Now, stack the battery shield on top of the motor shield and solder the | |
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| Now, stack the battery shield on top of the motor shield and solder the | |
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| This is how it should look like in the end. Make sure all of the exposed wires are covered in heat shrink |   |
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| This is how it should look like in the end. Make sure all of the exposed wires are covered in heat shrink |   |
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| Now you can stack the D1 mini ontop of the battery shield |  |
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| Now you can stack the D1 mini ontop of the battery shield |  |
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| Now it is time to connect the D1 mini to your computer | |
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| Now it is time to connect the D1 mini to your computer | |
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|Use a micro USB cable to connect the D1 mini to your computer |  |
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|Use a micro USB cable to connect the D1 mini to your computer |  |
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162
docs/2_MOTOR_SHIELD_FIX.md
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162
docs/2_MOTOR_SHIELD_FIX.md
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@ -0,0 +1,162 @@
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# Motor shield fix
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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.
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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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114
docs/3_ROBOT_SETUP.md
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114
docs/3_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 and 2_MOTOR_SHIELD_FIX.md
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Before we start, stack the D1 mini ontop of the battery shield and connect it to your computer using a micro USB cable 
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### Flash Micropython to the Wemos D1 mini
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The first step is to flash the micropython firmware to the D1 mini.
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You can download the latest micropython firmware for the ESP8266 from [here](http://micropython.org/download#esp8266). I used version _esp8266-20190125-v1.10.bin_
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The firmware can be flashed on the D1 mini using the following commands:
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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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### Communicating with the D1 mini
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After flashing the firmware we can access the python prompt on the microcontroller using a serial communication program such as picocom
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On Ubuntu you can install this with
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```
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$ sudo apt-get install picocom
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```
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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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First we enable WebREPL on the microcontroller which allows us to easily upload files and debug the robots via WiFi.
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*(I will use `>>>` in order to indicate commands which should be issued in the Micropython prompt)*
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```
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>>> import webrepl_setup
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```
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-> choose enable, set a password and choose reboot
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Now we set up an access point on the D1 mini:
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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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The default password for this access point is: `micropythoN`
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Alternatively, you can also connect to an existing wifi network using:
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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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Joing join the same WiFi network with your PC (either the access point or the local network) and connect to the D1 mini via the [online WebREPL](http://micropython.org/webrepl):
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Enter IP from above and click connect. Login with the password you set for the WebREPL.
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### Making settings permanent
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In order to avoid having to set up the WebREPL and the WiFi everytime we reboot the robot we can upload a file called boot.py which runs each time the robot restarts:
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- Find the file `boot.py` in the `micropython_firmware/` subfolder and edit the lines indicated with `# TODO`. In particular, set the wifi network, password and IP addresses. You should choose a unique IP address for each robot
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```
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# TODO: edit these lines
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network_name = 'Your WiFi network' # existing wifi network to connect to (leave empty if unused)
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password = 'Your password' # password for the network
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desired_ip = '192.168.1.101' # the robot will be reachable by this IP in the network
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subnet = '255.255.255.0'
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gateway = '192.168.1.1'
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dns = '192.168.1.1'
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# TODO end edit
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```
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- Upload boot.py via WebREPL
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- Now the robot will automatically connect to WiFi network you set and start a WebREPL server after reboot. *Note: If the WiFi network cannot be found it will instead open an access point*
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### Upload robot firmware
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Next, upload the motor controller script to the microcontroller. At the moment the firmware consists of the following three files located in `micropython_firmware/`:
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- `main.py` Main script handling network communication and control
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- `d1motor.py` Interface for the Wemos D1 mini motor shield
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- `l293dmotor.py`Interface for alternative motor driver using L293D (no longer used)
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You can upload these files the same way you did before within the WebREPL terminal. After uploading all the files reboot the microcontroller by pressing the reset button or by pressing `Ctrl+D` in the WebREPL prompt.
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### Test the robot
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Now it's time to test if everything is working fine. Disconnect the USB cable from the microcontroller and connect the battery to the battery connector
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Next, connect the two motors of the robot to the motor shield according to the following sketch:
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Test if you can reach the robot using
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```
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$ ping 192.168.1.101
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```
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*Note: Make sure you use the correct IP address for your robot.*
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If everything worked, connect to the robot via WebREPL as before. Don't worry if the prompt does not appear to be working. The robot is running a program waiting for incoming connections for remote control.
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We can connect to the robot via a socket on port `1234`. There is a simple demo program which illustrates how to control the robot remotely via keyboard. The program uses `pygame` for input handling so make sure to install it using
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```
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$ sudo pip install pygame
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```
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The program is located in the `remote_control/`. Run it using
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```
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$ python keyboard_controller.py '192.168.1.101'
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```
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When running the program you should see an output in the WebREPL that a connection was established.
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You can use the arrow keys for sending commands to the microcontroller which it then passes on to the motors.
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Now you're all set up for controlling your robot remotely via wifi.
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You can control the robot by send commands to the robot as a string containing `'(u1, u2)\n'`, where `u1` and `u2` are floats in the range `[-1.0, 1.0]`.
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Have a look at the `keyboard_controller.py` script to see how this works in python.
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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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