Metalbot Firmware for Teensy 4.1

Setup for uploading

Install Arduino IDE

https://www.arduino.cc/en/software

Install Teensyduino

https://www.pjrc.com/teensy/td_download.html

Install libraries

Micro-ROS:

• Download zip archive of foxy branch: https://github.com/micro-ROS/micro_ros_arduino/tree/foxy
• Include it in your project using Sketch -> Include library -> Add .ZIP Library...
• And Setup platform:

export ARDUINO_PATH=[Your Arduino + Teensyduino path]
cd $ARDUINO_PATH/hardware/teensy/avr/
curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/patching_boards/platform_teensy.txt > platform.txt

Arduino libraries:

Tools -> Manage Libraries...

• BasicLinearAlgebra (Tom Stewart)
• Encoder (Paul Stoffregen)

Get HEX-file

• Arduino IDE: Compile (c-R)
• Teensyduino: File -> Open HEX File

Upload firmware

• Use scp to transfer firmware
• Use tycmd to upload:

sudo tycmd upload <filename.hex>
# koromix.dev/tytools#tycmd_upload