Flashing the firmware

Note: These instructions have only been tested on Ubuntu 14.04. They do not work on 12.04 for some reason

1. Prerequisites - Install avrdude and get the firmware from the UNR robotics lab repo

   sudo apt-get install avrdude
   git clone https://github.com/UNR-RoboticsResearchLab/tgy.git
   cd tgy
   

2. Set up the Bench Power supply

   • Put the bench power supply into independent mode
   • Turn on the bench power supply. Make sure the master output is in constant voltage mode
     • Constant voltage mode is indicated if the C.V. light is lit up. If the C.C. light is lit up, turn the current knob to the right until the C.V. light lights up
   • Adjust the voltage knob so that the master voltage is between 6 and 7 volts. (I used 6.5)
   • Turn off the power supply (because safety)
   • Plug the male end of the alligator clips into positive and negative output terminals
   • Connect the alligator clips to the ESC
   • Attach the positive output to the red wire of the ESC
   • Attach the negative output to the black wire
   • Make sure the alligator clips don't touch each other (goes without saying I hope?)

3. Flash the ESC

   • Plug in the afro usb programming tool
   • The power pin of the programming tool or the powert port of the esc should be removed (the one in the middle)
   • Connect the ESC to the programming tool
   • Turn on the bench power supply (the voltage should be between 6 and 7 volts still)
   • Flash the ESC with the following command
     • Note the ESC may be connected under ttyUSB1 or something else
     • Use ls /dev/ttyUSB* to find out where it is connected
     • If you get a verification error message, try flashing again and hopefully it will go away.

   avrdude -p m8 -P /dev/ttyUSB0 -c stk500v2 -b 9600 -e -U flash:w:afro_nfet.hex:i 
   

4. Using the ESC

   • Connect the ESC to a receiver in the receiver's throttle port
   • Connect the ESC to a motor (it doesn't matter which wire plugs into which port)
   • Turn on the remote controller
   • Move the controller to the middle ( The ESC won't arm unless the controller is in neutral)
   • Connect the ESC to a power supply (that is turned on)
   • The ESC will flash red the green once it is connected to a power supply
   • Wait for a moment in neutral and a green light should turn on. This indicates that the ESC is armed and ready to be used.
     • If the ESC does not arm, double check and make sure that the controller is in neutral.