Motor check - NTheuws/linorobot2_software GitHub Wiki

On the robot computer, go to calibration folder and upload the firmware:

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>

Available Teensy boards:

  • teensy31
  • teensy35
  • teensy36
  • teensy40
  • teensy41

Some Linux machines might encounter a problem related to libusb. If so, install libusb-dev:

sudo apt install libusb-dev

Start spinning the motors by running:

screen /dev/ttyACM0

On the terminal type spin and press the enter key.

The wheels will spin one by one for 10 seconds from Motor1 to Motor4. Check if each wheel's direction is spinning forward and take note of the motors that are spinning in the opposite direction. Set MOTORX_INV constant in lino_base_config.h to true to invert the motor's direction. Reupload the calibration firmware once you're done. Press Ctrl + a + d to exit the screen terminal. Only go to the next step in case all motors are spinning and are spinning in the correct direction which is forwards.

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>



Previous step: Calibration

Next step: Encoder check

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