Biomimetic Millisystems Lab Collaboration Wiki

These are the instructions to update an mbed LPC1768 with a precompiled binary image.

Plug mbed into Linux, Mac, or Windows computer with provided USB Mini-B cable
The mbed should show up on the computer as a standard USB drive
Drag the image linked above to the mbed USB drive folder
Wait until the status light stops blinking rapidly
Press the reset button on the mbed. For a non-IMU binary, the second blue light should start blinking at ~1Hz. For an IMU binary, the first two lights should be on solid, and the third light may or may not be blinking. It should be blinking when a ROS node is running on the Zumy reading from the mbed.

Stable Images

Basic RPC

This only implements RPC for basic analog and digital input/output

Zumy RPC - for EE 106 Zumy Repo.

This has closed-loop velocity control (@ 50 Hz) on the embedded platform and a host of other embedded improvements, with communication over RPC. Can achieve about 15 Hz sensor reading, faster if less data is requested by the odroid

Note: This code is developed using an offline mbed compiler. Use these instructions to set it up on a

Zumy RPC -old

This is the default functionality for Zumy with IMU and encoders, with communication over RPC. This can achieve about 20Hz sensor reading.

Packet based

Image with packet-based communication at 100Hz.

Marker/Galvo

Packet based with active marker and laser galvo control.

mbed_zumy_marker_galvo.bin

Deprecated Images

Image with RPC and basic IMU functionality

zumy_mbed_imu.bin

Image with encoders (really under development. Use with caution, dude!)

Image with RPCFunction and Watchdog Timer

Image with RPCFunction at 70Hz