#SegwayRobot
| Component | Device name and link |
|---|---|
| Main Board | BeagleBone Black revC |
| IMU | AltIMU-10 v4 (L3GD20H, LSM303D and LPS25H Carrier) |
| Motors | Metal Gearmotor 25Dx52L HP with 48CPR Encoder |
| Motor Driver | DRV8833 |
| Current Sensors | ACS714 |
| Wheels | Pololu Wheel 70x8mm |
| Mounting Hub | 4mm shaft |
| Metal Gearmotor Bracket | 25D mm |
| Protocape | By Sparkfun |
##Configure the segway To set up the project, connect via ssh to the BeagleBone Black and follow the next steps
###1) Prerequisites We need the following tools / libraries to build the code:
- Linux Kernel 3.8
- gcc (build-essential)
- Eigen/Dense
###2) Clone the tree
git clone --recursive https://github.com/SegwayRobotTeam/SegwayRobot.git
From now we assume to be positioned inside the SegwayRobot/ folder.
###3) Build the code
cd Code/
make balance
###4) Setup the overlays ####4a) Install the right device tree compiler version
cd /tmp
wget -c https://raw.githubusercontent.com/RobertCNelson/tools/master/pkgs/dtc.sh
chmod +x dtc.sh
sudo ./dtc.sh
####4b) Build and install the overlays
cd Script/
./buildcapes.sh
cd ../capes/dtbo
sudo cp *.dtbo /lib/firmware
####4c) Disable the HDMI cape
Edit /boot/uEnv.txt and add the following line:
capemgr.disable_partno=BB-BONELT-HDMI,BB-BONELT-HDMIN
Then reboot
####4d) Load the required overlays
cd Scripts/
sudo ./loadvirtualcapes.sh
###5) Launch the balance program
cd Code/
sudo ./balance