Groundbot Low-Level Firmware

This directory contains the firmware for the Teensy 4.1 microcontroller used on the Agribots Ground Robot. It utilizes micro-ROS to communicate natively with the ROS 2 graph over Serial (USB).

⚙️ Hardware

• MCU: Teensy 4.1
• Communication: USB Serial (/dev/ttyACM0)
• Key Peripherals:
  • Motor Controllers (PWM/Direction)
  • Encoders (Interrupts)
  • IMU (If connected via SPI/I2C to Teensy)

💻 Development Environment

We recommend using PlatformIO (VS Code Extension) for building and uploading code, as it handles the micro-ROS library dependencies automatically.

Prerequisites

1. VS Code installed.
2. PlatformIO IDE extension installed.
3. udev rules installed (for Teensy upload permissions).

🔨 Build & Upload

1. Open this folder (microROS_package) in VS Code.
2. PlatformIO should automatically detect the platformio.ini file and install libraries.
3. Connect the Teensy via USB.
4. Run the Upload task (Arrow icon in bottom toolbar).

🔌 Connecting to ROS 2

The Teensy will not function until the Micro-ROS Agent is running on the host computer (Raspberry Pi).