From teenzy to Arduino Mega2560-tutorial

[linorobot]

From teenzy to Arduino Mega2560-tutorial

[zoldaten]

Just want to post a tutorial how to use Arduino Mega2560 instead Teenzy 3.1/3.2.
This tutorial is my own collection of headache while compiling code with platformio )
So everything works for date 07.2020 by this tutorial.

1. find your board first with udev:
   rosrun lino_udev lino_udev.py
   connect arduino
   save udev
   sudo cp 58-lino.rules /etc/udev/rules.d/58-lino.rules
   reboot

2.Change settings in platformio.ini
cd /linorobot_ws/src/linorobot/teensy/firmware
nano platformio.ini
[env:teensy31]
platform = teensy
framework = arduino
board = teensy31

;[env:mega]
;platform = atmelavr
;framework = arduino
;board = megaatmega2560

upload_protocol = teensy-cli
upload_port = /dev/linobase

to
;[env:teensy31]
;platform = teensy
;framework = arduino
;board = teensy31

[env:mega]
platform = atmelavr
framework = arduino
board = megaatmega2560

upload_protocol = avrispmkII
upload_port = /dev/linobase

3.install missed library
platformio lib -g install Servo
or
Put the servo library in the lib folder
linorobot/teensy/firmware/lib/PUTHERE
and change firmware.ino
#include <Servo.h> --> #include "Servo.h"

4.comment 26 line in firmware.ino
cd /linorobot_ws/src/linorobot/teensy/firmware/src
nano firmware.ino
5.upload firmware to arduino mega:
cd /linorobot_ws/src/linorobot/teensy/firmware
platformio run --target upload

[JamesFlosse]

Hi, can you have a solution for ftdi plug into mega 2560 pro mini?
When i run rosrun lino_udev lino_udev.py ftdi & lidar detected but when i reboot after sudo cp 58-lino.rules /etc/udev/rules.d/58-lino.rules, the ftdi it's nor recognized.

EDIT: I have found solution, just follow this step:
-plug your ftdi
-dmsg
-unplug ftdi
-see the usb port are connected and disconnected. for me it's USB1
-sudo nano /etc/udev/rules.d/58-lino.rules
-replace USB? by USB1

EDIT2: Where i can find pinout for arduino mega to connect encoder and motor driver?
Ok not enough interrupt pin for 4wd xD. I go purchase teensy 4.1
And voila!