LED with 32 Bit Teensy® Boards

Following isntructions have been logged for teensy41; however, other boards would have similar installation steps.

Installation

• Create udev rules for Teensy on the powering computer/local machine if not already present

$ cd /etc/udev/rules.d/
$ sudo touch 00-teensy.rules
$ sudo gedit 00-teensy.rules

• Copy the UDEV Rules for Teensy boards. More details for Teensy loaders can be be found at - Using The Teensy Loader on Ubuntu Linux
• Install rosserial

$ sudo apt install ros-melodic-rosserial-arduino
$ sudo apt install ros-melodic-rosserial-client

• Clone the repo to your local machine

git clone http://192.168.1.101/distributed-wta/wta_led_teensy.git

• Build the catkin package
• Open the led.ino file in Arduino IDE
• Select the correct board.
  Tools → Board → Teensyduino → Teensy 4.1
• Upload the code to Teensy.

Execution

• Run following command in the terminal

roslaunch wta_led_teensy led.launch

• In split terminal, run following command and change data values to see different behavior

rostopic pub /assignment std_msgs/Int64 "data: 2"

The data value assignment is as follows if pins are connected the correct way:

Pin 13: White LED | Weapon 1
Pin 39: Red LED | Weapon 2
Pin 36: Blue LED | Weapon 3
Pin 33: Yellow LED | Weapon 4

Note: Pins are chosen arbitrarily.

Troubleshoot

#	Problem	Solution	Notes
1	error: cannot convert 'usb_serial_class*' to 'HardwareSerial*' in assignment iostream = &Serial;	append || defined (__IMXRT1062__) to AdruinoHardware.h	github: Teensy 4.0 Support #455

References

1. teensy41
2. UDEV Rules for Teensy boards
3. Using The Teensy Loader on Ubuntu Linux
4. github: Teensy 4.0 Support #455