Code and documentation for the teensy logger, which forwards encoder, height and imu data to a laptop via USB
| Component | Voltage | Pins |
|---|---|---|
| VL53 height sensor | 3.3-5V | SDA -> 18, SCL -> 19 |
| MPU-9250 imu | 3.3V | SDA -> 17, SCL -> 16 |
| E6B2-CWZ3E encoder | 5V | A -> 0, B -> 1 |
Note that the values in the table could be out of date - when it doubt, look at the circuit and source code directly
Programmed using the platform.io extension in vs code. See the platformio.ini file for dependancies, but the extension should install everything for you
The scripts/receive_comms.py Python script has some demo code to receive data from the teensy, save it to a file and plot the result
If you're working within a Git project, add using
git submodule add https://github.com/African-Robotics-Unit/sensor-logger sensor_logger
(ie, rename it to sensor_logger, which is a more Python-friendly path name)
Plug the teensy into a computer via USB
Upload code by pressing ctrl+alt+U within VS Code (which makes PlatformIO build and upload the code to the teensy)
Run the example Python script to receive data:
python scripts/receive_commms.py
(Look at the script for required libraries, but it's basically just matplotlib and pyserial). Press ctrl+C when done, and you should see a plot!
Please keep this repo alive and consistent with the actual state of the sensor! Don't update the files with code specific to your project - either copy-paste and modify, or better yet, create a branch and work in there. The main branch should be general purpose and simple to understand