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jwatte / donkey_racing

Tools to help train for the Donkey Car machine learning racing
MIT License
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Talk to teensy hat via Serial or I2C #2

Open gigawatts opened 4 years ago

gigawatts commented 4 years ago

https://github.com/jwatte/donkey_racing/blob/master/teensy_hat_firmware/teensy_hat_firmware.ino

Your documents and some of the code comments list being able to send commands from the Pi to the Teensy to get feedback, to start driving, or to shut off the hat's power.

I've tried configuring the Pi's Serial port per these instructions and connecting to the /dev/ttyS0 port (Pi 3) with minicom, but I get no output, and no reaction.

If I am reading the code correctly, sending a "Q" should return some status, including battery voltage?

Can you give some examples on how to talk to the Teensy, from the Pi via the Serial or I2C port?

gigawatts commented 4 years ago

Also, I must be missing some instructions somewhere (not mentioned anywhere in the google doc I linked) on how to get the donkey software to talk to the Teensy to control the ESC + Servo. I am using a Teensy LC, and your PCB is dated 2018-01-22. It currently bombs out when running any donkey command, since it's expecting to talk to a PCA 9685 Servo Driver.

Fair warning, I have not updated my car's Pi to the latest donkey software, I'm still running donkey v2.2.1. If the answer to getting this all working is to just start over and run the latest, I can do that, but figured I would ask about the existing version I already had installed first.

EDIT: I spoke too soon, I just found the "JHat" actuator in the github codebase, and its missing from my local car's codebase, so update it is!

jwatte commented 4 years ago

I have no idea whether it's supported on latest!

The default firmware on the Teensy should, at a minimum, just look like a PCA9685, e g, it should be visible on the I2C bus, assuming the firmware is loaded into the Teensy. (And assuming the LC supports I2C slave mode -- I can't recall offhand, but it seems reasonable that it would.)

Sincerely,

Jon Watte

-- "I find that the harder I work, the more luck I seem to have." -- Thomas Jefferson

On Mon, Jun 8, 2020 at 4:29 PM gigawatts notifications@github.com wrote:

Also, I must be missing some instructions somewhere (not mentioned anywhere in the google doc I linked) on how to get the donkey software to talk to the Teensy to control the ESC + Servo. I am using a Teensy LC, and your PCB is dated 2018-01-22. It currently bombs out when running any donkey command, since it's expecting to talk to a PCA 9685 Servo Driver.

Fair warning, I have not updated my car's Pi to the latest donkey software, I'm still running donkey v2.2.1. If the answer to getting this all working is to just start over and run the latest, I can do that, but figured I would ask about the existing version I already had installed first.

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