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Programming the robot micro-controller
Description: This tutorial explains how to re-upload the code to the robot micro-controller (Atduino DUE).Keywords: lizi komodo micro-controller teensy
Tutorial Level: INTERMEDIATE
Next Tutorial: Robot installation
Contents
In order to upload new code to the micro-controller, the following commands should be executed locally on the computer which is installed on the robot that we want to program:
Install Java
$ sudo apt-get install gcc-avr avr-libc openjdk-6-jre $ sudo update-alternatives --config java
Install the Arduino IDE
Install Arduino 1.0.5 from http://arduino.cc/en/main/software
Install Teensyduino
Download and install Teensyduino (Linux Installer (32 bit)) from https://www.pjrc.com/teensy/td_download.html
Check all checkboxes to install all libraries.
Don't forget to install the udev Rules.
Get the sketch and libraries
Copy the content of the ric/ric_mc/Arduino folder into your Arduino sketchbook location (usually ~/Arduino).
Run the ros_lib_make_libraries.sh from the ric_mc package.
Upload the sketch
Start the Arduino IDE and load the ric_sensors sketch.
From Tools->Board select "Teensy 3.1".
From Tools->CPU Speed "48MHz".
Click Upload.
Warning: Editing code incorrectly may cause damage to elements of the robot.
