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Some documentation like a getting started guide would be nice #1

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androiddrew opened this issue Oct 23, 2020 · 67 comments
Open

Some documentation like a getting started guide would be nice #1

androiddrew opened this issue Oct 23, 2020 · 67 comments

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@androiddrew
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I just recently purchased the MoebiusTech Stm32f103rct6 board from aliexpress for my omni wheel frame(same brand). I am looking for documentation on getting started with this board and at least a README.md here would be a nice addition..
@400badRequest
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Same problem here. I just can't get it to work.

@danidask
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Same here. Very happy after seen the schematics because its exactly what we were looking for. But can you please document what toolkit did you use to develop the code so we can compile it? Also I recommend you to upload the the project itself to the repo, instead a zip file, so people like us can contribute finding bugs and improving the code.

@MoebiusTech
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Owner

MoebiusTech commented Nov 23, 2020 via email

@danidask
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Ok, I did but sadly the code size is bigger than 32000 bytes, so it can't be compiled with the free version, and I not willing to buy a licence.
So please can you include the .hex in the repo, so we can upload it with an ST-Link?
Anyway, as far as I can see there is only a basic control with the PS2 controller or serial over bluetooth. No ROS compatible code or odometry calculation yet.
Apparently, the bluetooth commands included in control.c are:
case 'A': Move_X=0; Move_Y+=step; Flag_Move=1; break;
case 'B': Move_X+=step; Move_Y+=step; Flag_Move=1; break;
case 'C': Move_X+=step; Move_Y=0; Flag_Move=1; break;
case 'D': Move_X+=step; Move_Y-=step; Flag_Move=1; break;
case 'E': Move_X=0; Move_Y-=step; Flag_Move=1; break;
case 'F': Move_X-=step; Move_Y-=step; Flag_Move=1; break;
case 'G': Move_X-=step; Move_Y=0; Flag_Move=1; break;
case 'H': Move_X-=step; Move_Y+=step; Flag_Move=1; break;
case 'Z': Move_X = 0; Move_Y=0; Move_Z=0; break;
case 'L': RC_Velocity = 30; break;
case 'M': RC_Velocity = 10; break;
case 'b': Move_Z-=step; Gyro_Bias = Yaw; break;
case 'd': Move_Z+=step; Gyro_Bias = Yaw; break;
(didn't test because I didn't receive the board yet)

@FrankyForkFingerz
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Hi guys,

nice to see that even more people are getting involved with the board.
There is already software on the board when it is shipped, and if you plug in a PSX controller you can control the board with it.
I'm looking for a way to control the board via spi or i2c but I haven't found anything yet, maybe you see something.

I also think that the software is not the one that comes with the board because there is nothing in the main routine except speed. And I am afraid that if you download the provided software it will not work anymore

Under the "case" selections there should be something like in the speed setting.

The schematic is not 100% of the board's, e.g. there is no 8 pin connector (J3) on the whole board as shown, even if you leave out 2 pins the order does not fit.

Can anyone see where and how to connect the display?

@dani: you can activate a test license for keil and if you do it in a virtual machine you can reset it. Do you received your board now?

All in all more question marks than answers.

@danielespitiacol
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Hi, I bought the board and I have some questions.

  • Is the board already programed?
  • Can I control the motors by serial commands? (Can you publish the commands?)

Thank you

@mattkanwisher
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Where do you see in the code it supports this playstation controller? is there any way to just do this from the console?

@juvinski
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Hi,

anyone has tried the imu calibration ? I'm having wierd values and trying to map, the things are bad - the hector of gmapping is not detecting thanges in the orientation of the robot - so I decided to check and then found this imu calibration.
the orignal file :
SM:

  • -3.538445003391146
  • -0.08322304678264786
  • -0.06116149459766242
  • -0.166758927975385
  • 3.529303537776436
  • 0.06482618620038813
  • 0.0724385213092925
  • -0.007490259263870077
  • 3.440991734493524
    bias:
  • -0.3825445118177937
  • 0.1456255840440842
  • 0.1535159596925346

Mine after calibration:
bias:

  • -6992986089388.248
  • -0.0009004435820274345
  • -0.0001088909012330088
    SM:
  • -8486815755665.48
  • -3.014556569918405e-18
  • -2137894260780.729
  • -0.001092794792003753
  • 2.240823590115316e-20
  • -0.0002752834256448028
  • -0.0001321519883523232
  • 2.240823590115316e-20
  • -3.329010380137104e-05u

@lunanueva
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Please if you can coonect this board using stlink. Please inform me how you have achieved it. Thanks

@juvinski
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Hi @lunanueva

have you search on the OBJ folder of the project? There is a Moebius.hex on the 1.0.4 file and STM_ROS_MasterKinect.hex on the STM32_Ros_master_melodic-lib.7z file.

@lunanueva
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HI juvinski.
Many Thanks for your answer. I have already found the hex file as you mentioned but I cannot connect the board with the StCubeProgrammer using stlink v2. I always receive the error message "target not found" . I have connected VCC, GND, CLK, DIO from the stlink to the board but it is not running. I have used 3 different stlink and two differents computer and I cannot get to ready- I have installed the driver what is this repository and the original of the ST web. Could you connect the board to StProgrammer to load the hex file ???

@juvinski
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hi @lunanueva,
I could flash using the STM32 ST-LINK Utility.
I was having trouble with my usb hub, by in the momment I connected direct on the host ubs port everything worked.

@lunanueva
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HI juvinski.
Many thanks- Your help is being very useful. The AiExpress shop, where I bougth the board, does not answer to my request

You said that you can connect directly the board to your usb hub so that do you use the micro usb board to connect to your computer USB ???? I tried this way but in my computer does not appear any COM port so that it does not reconize the board. Which driver do you use for this connection ????? Please could you send me the web to download it.

Really very thanks for your help. I had decided to put the board in a drawer and now I have some hope with your help

@juvinski
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hi @lunanueva ,

No. My ST-link adapter was connected to a usb hub.
when connected the st-link adapter to a my computer's usb port and then stlink connected to the moebius board then I could transfer the files.
Have you had tested the STM32-ST-Link software instead the cube ?
Yes, I sent messages to the Moebius store where I bought the board and no answer. The messages is readed but no reply.
I'm facing problems with the IMU.

@lunanueva
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HI juvinski.

I have transfer file using ST LINK Cube Porgrammer with the option UART and I have installed ch340 driver, I read that this board uses CH340 as TTL UART USB interface.

Using STM32-ST link software and connecting St-link to USB port and Moebius board to stlink VCC, HND, CLK, DIO pins does not run. Always the same error "target not found". I supose that is a driver problem. For Windows10, it is advisable use Windows driver but it does not work for me.

Many thanks for your help. I have managed to use this board again when I have forgotten it but as you said that it was possible to conecct by USB directly, I doing research to use USB and I would load files although I couldnot use stlink

If you come to Madrid, please let me know and we`ll have a few beers.

I usually use Arduino and Raspberry and I have a little experience with stm32 micro but I have tried to learn with other board stm32 nucleo. As in this respository there are software to control motor DC, serial connection etc. Can I use this software and add other funcionality as UART conection with raspberry ?
I have usually used stm32cubeide software but in other post Moebius answered that they use Keil 5.0.

@juvinski
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hi @lunanueva ,

did you board blink any led ?
When you connect the board to a raspberry, the linux detect the board as usb device ?
I don't know much about this stm board, but sometimes to flash - at least stm drone controller boards (like spfracing, mamba, etc) you had to sometimes put the board in boot/dfu mode, maybe a try can be helpfull.

Btw, how I was suspecting the IMU is not publishing anything, so I will revise the firmware but I already open a dispute in the aliexpress.

@juvinski
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I found something regarding the IMU.
On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work.
Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

@lunanueva
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HI juvinski.

In my board blinks a red and blue led when I connect power by microUSB or directly by jack with 12 V. My st-link v2 is, the original, and only provides 1,67 V through SWD pins. I have tried power the board by the jack and it connect with st-link by SWD pins but it is not work.

When I connect the board to raspberry, the linux detect the board.

How can I put the board in boot/dfu mode ?????

How have you connected your board to St-link ?? You use SWD pins (4 pins)

When you connect your board to st-link and the stlink to USB hub, in your computer are there any COM port ????? (in the device management using Windows) . I dont know if you use Windows, Linux o Mac

Have you load any driver to the moebius board ???

Many thanks

@juvinski
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hi @lunanueva ,

if the led is blinking, this means there are a software running on the board- mine the led was not blinking, so this is why I load the software on the board.
What you can do to check is run on your raspberry:
1 check if the is screen software is installed, if not install it - sudo apt-get install screen
2 run screen /dev/ttyUSB0 115200
With that, raspberry will show any serial message from the connection between your board and your raspberry.
If there are messages like - Left something, this means your board are working. If is something like PSXXX the loaded software is the Playstation controller.
If not happens, check the bringup.launch command and check what is the serial board on the configuration and if os wrong, change to yours and run bringup.launch.

@ksirirux
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ksirirux commented Sep 6, 2021

Is the Ros version support?
I use ros melodic but when in run
$ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200
terminal show
Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

can you suggest me pls?

@juvinski
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hi @ksirirux ,

are you running the image provided or installed your own?
Your error is, or the board doesn't have the firmware, or the USB port is other.
If I not wrong, using the image provide of ubuntu mate, the board when connected to raspi3 will generate a symlink on /dev/mbaserobot or mbase something, and other for lidar.
Try disconnect the usb on your raspberry, then connect again and check the dmesg command to check if correct usb port.

@ksirirux
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ksirirux commented Oct 4, 2021

software for stm Ros download from this link : https://github.com/MoebiusTech/ROS_STM32
In the folder
STM32_Ros_master_melodic-lib\bsp\stm32\stm32f103-atk-nano\build\keil\Obj\STM32_ROS_Master_kintic.hex

@juvinski
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juvinski commented Oct 4, 2021

Right,

but what version of ros are you using? and have you checked the tty devices - disconnect lidar, disconnect controller, connect the controller and check what device will be detected by linux.

@ksirirux
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ksirirux commented Oct 6, 2021

Hi juvinki
now it work fine. I recieve msg from stm32 but imu is not work when I rotate the robot imu value is not change.
How can I config motor parameter. I use 12v 35rpm motor odometry is not correct.

@juvinski
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juvinski commented Oct 7, 2021

hi @ksirirux ,

what version of the firmware are you using in your board ? Mine changed the i2c from 1 to 2 and then I could use the IMU.

@lunanueva
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I found something regarding the IMU. On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work. Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

Hi juvinski.

Now that I have more free time, I have back to the st32 moebius board. As you said, the IMU declaration is under i2c1 and tjetechnical diagram show i2c2. I think the wrong definition is in the file applications/config. h (line 91) (ROS STm32 proyect) but I have not license fot keil compiler (only not commercial) and I cannot compile big proyects. Please Could you send me the hex file after change i2c2. If it is possible my mail is aguacristalina999@hotmail,.com
Thanks

@ksirirux
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I found something regarding the IMU. On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work. Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

Hi juvinski.

Now that I have more free time, I have back to the st32 moebius board. As you said, the IMU declaration is under i2c1 and tjetechnical diagram show i2c2. I think the wrong definition is in the file applications/config. h (line 91) (ROS STm32 proyect) but I have not license fot keil compiler (only not commercial) and I cannot compile big proyects. Please Could you send me the hex file after change i2c2. If it is possible my mail is aguacristalina999@hotmail,.com Thanks

Hi juvinski
may i help you? please send your config.h to me I'll complile and send hex to you...
my email : [email protected]

@juvinski
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I found something regarding the IMU. On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work. Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

Hi juvinski.

Now that I have more free time, I have back to the st32 moebius board. As you said, the IMU declaration is under i2c1 and tjetechnical diagram show i2c2. I think the wrong definition is in the file applications/config. h (line 91) (ROS STm32 proyect) but I have not license fot keil compiler (only not commercial) and I cannot compile big proyects. Please Could you send me the hex file after change i2c2. If it is possible my mail is aguacristalina999@hotmail,.com Thanks

hi @lunanueva ,
I published/created a git repository with my firmware - source and bin - with some modifications:

  1. Pid adjust
  2. Correct encoder settings - mine was different of the default value
  3. Change I2C for IMU
  4. Fixed incorrect led pin

I'm still trying to do this work - I believe I found a problem with my IMU - some time after I put the robot to work I'm loosing IMU reading or having very akward readings.
BTW. the repository is https://github.com/juvinski/MoebiusRobot

@juvinski
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I found something regarding the IMU. On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work. Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

Hi juvinski.
Now that I have more free time, I have back to the st32 moebius board. As you said, the IMU declaration is under i2c1 and tjetechnical diagram show i2c2. I think the wrong definition is in the file applications/config. h (line 91) (ROS STm32 proyect) but I have not license fot keil compiler (only not commercial) and I cannot compile big proyects. Please Could you send me the hex file after change i2c2. If it is possible my mail is aguacristalina999@hotmail,.com Thanks

hi @lunanueva , I published/created a git repository with my firmware - source and bin - with some modifications:

  1. Pid adjust
  2. Correct encoder settings - mine was different of the default value
  3. Change I2C for IMU
  4. Fixed incorrect led pin

I'm still trying to do this work - I believe I found a problem with my IMU - some time after I put the robot to work I'm loosing IMU reading or having very akward readings. BTW. the repository is https://github.com/juvinski/MoebiusRobot

hi @ksirirux ,

In true my problem is digging the firmware and trying to put everything working :)
thanks.

@ksirirux
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I found something regarding the IMU. On 1.0.3 code, the IMU declaration is under i2c1, but after look the documents of the stm processor, the imu is connected to i2c2, after changing this bus, the IMU starting to work. Now I'm facing a bad orientation - generating the map, there is a misalignment between the vehicle and the map - when I go forward, the image of the laser is like the side view, and when I command a forward movement, the map is updated as the robot moving sideways.

Hi juvinski.
Now that I have more free time, I have back to the st32 moebius board. As you said, the IMU declaration is under i2c1 and tjetechnical diagram show i2c2. I think the wrong definition is in the file applications/config. h (line 91) (ROS STm32 proyect) but I have not license fot keil compiler (only not commercial) and I cannot compile big proyects. Please Could you send me the hex file after change i2c2. If it is possible my mail is aguacristalina999@hotmail,.com Thanks

hi @lunanueva , I published/created a git repository with my firmware - source and bin - with some modifications:

  1. Pid adjust
  2. Correct encoder settings - mine was different of the default value
  3. Change I2C for IMU
  4. Fixed incorrect led pin

I'm still trying to do this work - I believe I found a problem with my IMU - some time after I put the robot to work I'm loosing IMU reading or having very akward readings. BTW. the repository is https://github.com/juvinski/MoebiusRobot

hi @ksirirux ,

In true my problem is digging the firmware and trying to put everything working :) thanks.

HaHaHa. I from thailand my english is not good.
that the first I found IMU problem too. and change to i2c2 it work++

thanks.

@Moiks92
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Moiks92 commented Sep 6, 2022

i need Some documentation like a getting started guide, please coz is my first time with ROS and the board

@lunanueva
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lunanueva commented Sep 6, 2022 via email

@Moiks92
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Moiks92 commented Sep 6, 2022 via email

@lunanueva
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lunanueva commented Sep 7, 2022 via email

@TeeThiti
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TeeThiti commented Sep 13, 2022 •
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Hi

my raspberry pi is ubuntu mate in link this https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK?fbclid=IwAR0RPngeVzWn4-t5y2myE4KUFmpsbMZ78AQmutiFTyUESfQLRLDOz_KQrys

and run roslaunch mbsrobot bringup.launch
get this
[ WARN] [1663058008.100842890]: Still waiting for data on topics /imu/data_raw and /imu/mag...
[ERROR] [1663058016.247058]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

I just started about this
What must I do?

thanks

@lunanueva
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lunanueva commented Sep 13, 2022 via email

@TeeThiti
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HI I think that the stm32 board is not publishing the imu data. You would check if you use the I2C 2 port because the MPU6050 is connected it in the board Enviado desde Correohttps://go.microsoft.com/fwlink/?LinkId=550986 para Windows De: @.> Enviado: martes, 13 de septiembre de 2022 10:38 Para: @.> CC: @.>; @.> Asunto: Re: [MoebiusTech/Stm32f103rct6] Some documentation like a getting started guide would be nice (#1) Hi my raspberry pi is ubuntu mate in link this https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK?fbclid=IwAR0RPngeVzWn4-t5y2myE4KUFmpsbMZ78AQmutiFTyUESfQLRLDOz_KQrys and run roslaunch mbsrobot bringup.launch get this [ WARN] [1663058008.100842890]: Still waiting for data on topics /imu/data_raw and /imu/mag... [ERROR] [1663058016.247058]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino What must I do? thanks — Reply to this email directly, view it on GitHub<#1 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AGTUGL3DUMPZI4RC22GT2RDV6A4RFANCNFSM4S333FSA. You are receiving this because you were mentioned.Message ID: @.***>

I just started about this
you have manual to check i2c port

thanks

@lunanueva
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lunanueva commented Sep 13, 2022 via email

@TeeThiti
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Thank you very much
I leaning about how to use st link v2 for change to i2c2 with STM32CubeIDE
I think it was right?

@lunanueva
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lunanueva commented Oct 11, 2022 via email

@TeeThiti
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Thanks!!! @lunanueva
and sorry for missing.

I do that, it can use.
but I roslaunch bring.up in raspi and rosrun tele_keyboard I can't control this board.(wheel move but I press k it not stop.)

@lunanueva
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TeeThiti.
I think that the moebius board has not been loaded with the correct progam.

@TeeThiti
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TeeThiti commented Dec 26, 2022 •
edited
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I use juvinski .hex file to upload to moebius board.
I got this problem.

Have I missed something?

thank you lunanueva and everyone.
I'm new for this.

@lunanueva
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This is the file that I use and for me the tele_keyboard works well. You can test:

letter lowcarse i wheels go to forward
; wheels go to backward
v or B ; stop the robot ( in my program K is not valid for me)

@TeeThiti
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I use re-thead.hex upload to st link. Can I control teleop keyboard node.
Moving around:
u i o
j k l
m , .
k is stop?

and Where do you edit juvinski software in keil.

@lunanueva
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Int he directory of juvinsk software there is a file project.uvprojx in the path Robot-main/firmware/src/bsp/stm32103-atk-nano.

You should open this file using keil. and you can update the progtram and compile it again (if you want)

@TeeThiti
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TeeThiti commented Dec 28, 2022 •
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yes I use that file (project.uvprojx in Robot-main/firmware/src/bsp/stm32103-atk-nano.)
and I edit i2C1 to i2C2 and compile .hex file upload to stm32(use ST-Link Utility) , or upload re-thead.hex (juvinsk software) i found same problem.

I use moebius OS in rpi (Drive: https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK?fbclid=IwAR0RPngeVzWn4-t5y2myE4KUFmpsbMZ78AQmutiFTyUESfQLRLDOz_KQrys)

but i can't use node teleop_twict_keyboard. What should I do?

and What would you do to control this board?

Many thank for your assistance.

@juvinski
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Hi

mare you monitoring the topics related to velocities to check if is a problem in the teleopt + ros or in the firmware ?

@lunanueva
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lunanueva commented Dec 28, 2022 via email

@TeeThiti
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I think so. It is software problem. but I new for stm and keil so I don't understand many things.

Would you suggest me some board for education this subject?

@juvinski
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Hello
But are you 100% sure ros is working fine ? Publishing what must be published?
Do you have any log when you start the bringup.launch file ?

@lunanueva
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lunanueva commented Dec 30, 2022 via email

@ROM-robotics
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we have ros 2 humble version for it.

@lunanueva
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Thanks. Where has it been published ?

@Moiks92
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Moiks92 commented Sep 6, 2023

Hi, where i can found the zip mbsrobot_setup??

@Moiks92
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Moiks92 commented Sep 8, 2023

hi for everyone, im form to Mexico and my english is not very good, i need a little help about how i can flash the moebius stm32 card because it shows a warming with the imu and i can't move the robot or see the data... please help me!

@lunanueva
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HI Moiks92. I answer to you in spanish language, I think it is easier for both.

Debes descargar el software de la web : https://github.com/MoebiusTech/ROS_STM32
Usar Keil uVision 5 modificar el puerto para IMU. debe ser el 2. En el fichero config. es un programa de pago pero hay una version gratis para prueba. En la version original del software viene que el IMU esta en el puerto 1 y esta mal.

En el programa, el menu en la opcion Project, con opcion build target genera una nueva version del software

Conecta la tarjeta Moebius al ordenador y desde el programa keil Uvision5 puedes flasear (copiar) el programa a la tarjeta

juvinski publico un software que ya habia realizado los cambios que te menciono pero siempre tendras que flasear el nuevo software a la tarheta

Ya vera que ahora los datos del IMU son correctos.

@Moiks92
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Moiks92 commented Sep 11, 2023

Muchas gracias lunanueva, estamos en la parte de modificar el projecto del moebius para agregar las carpetas que modificó juvinski, esperamos que pueda leer la IMU

@WalterHynson
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WalterHynson commented May 15, 2024 •
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I just recently purchased the MoebiusTech Stm32f103rct6 board from aliexpress for my omni wheel frame(same brand). I am looking for documentation on getting started with this board and at least a README.md here would be a nice addition..

The stm32f103rct6 board that I have has an onboard CH340 chip which allows it to talk to the Arduino IDE without using one of the plugboard adapters ,now here is what I know , I have experimented with many of the STM32 boards some from China and some discovery units and all I do is #1 board has CH340 open arduino IDE write some code to bliink Leds ,make motors move ,or move a servo arm( as an example ) now Yes I am a retired engineering tech so I understand circuits and I have learned enough C ++ or Arduino to fumble my way to sucess ,oh yea you must search and read and read some more untill you are sucessful ,just keep trying and it will work . Case 2 board has no CH340 so I have to use RX/TX to the first UART, and set up tools menu in Arduino so it will talk to CUBE ide ,Then I write some code ,hit upload and wait while the magic works (now this time it failed ) so search online find and example and copy or adapt sucess (1 additional message) I am retired and was never trained to think C++ or arduino or STM32 however the new generation is so I enlist the help of some neighborhood kids and wow they are so glad to help and solve problems in ways I have never thought of .

@lunanueva
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lunanueva commented May 15, 2024 via email

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