icboredman / cherokey_slave

Robot slave arduino sketch running on Teensy 3.2. Controls motors, delivers odometry, monitors battery voltage, current consumption and charging.

cherokey_slave

Arduino sketch running on a Teensy 3.2 - a slave microcontroller in a mobile robotic platform. The Teensy implements PID motor control, delivers odometry, monitors battery voltage and current consumption and manages charging. Communication to the master Raspberry Pi is implemented over a serial connection using packet-based MessageSerial protocol.

More info in my blog post: https://BoredomProjects.net/index.php/projects/robot-navigation-using-stereo-vision-part-2

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Used Libraries

Adafruit_BNO055_t3.h from here:

• BNO055 library adapted to i2c_t3 lib for Teensy

in addition:

• ADC for Teensy by Pedro Villanueva
• Adafruit Unified BNO055 Driver
• Arduino PID Library by Brett Beauregard
• Fast CRC Arduino library by FrankBoesing
• MessageSerial library, forked from PacketSerial by Christopher Baker
• Analog Comparator library, forked from orangkucing

also:

• Enhanced I2C library for Teensy
• Adafruit Unified Sensor Driver