What is the ADC measuring?
edit: ah I see FL:278,FR:279,BL:280,BR:258,motor:5.9,battery:11.3,current: 1025mA
Looks life front left/right, back left/right “something” and motor… wonder which? all? presuming current is total being drawn. Worth knowing when selecting batteries. Need a discharge rating of at least 1C
Good to know there is a compass too, I’ve used a non-magnetometered accel/gyro before and the drift on the Z axis was quite the irritation.
Good find on the other alt chip for the peripherals. The reason I think it’s likely to be Atmel though is that RR’s hardware guy mentioned using Atmel studio in his interview video on youtube. Unless there are any other atmel chips in the meka (possibly in the legs?) I’d guess they are using them in the peripherals. There is a way to check though, I know a way to dump the firmware off them. If it doesn’t work, we know it isn’t ATtiny. Quite far down on the list for me though I’m afraid but I’ll put it down anyhow.
@Benerator great to know that the LEDs (or perhaps other - who knows what was in planning for the weapons, or other addons) can be dynamically controlled. That is what I was hoping, even though it isn’t so useful for us… unless control mechanisms for them are already in the firmware… in which case the signals sent to the LEDs could be re-purposed for “other”… where “other” = “whatever we can think up” .
It might be possible to discover the 1 wire protocol for data exchange they use but I don’t have any gear that would help me analyse that. One for down the line… the only protocols I know for chip comms are SPI and I2C which indeed use too many wires, but there might be a common one for 1 wire. If there is, I bet RR are using it. If if could be determined, and there is a way to use it via BLE or the ROS API, then that means there is scope for building anything at all and connecting to/communicating with it via the meka ports. I wonder if this one maybe… https://en.wikipedia.org/wiki/SDI-12
@rave76 great discovery that the current firmware works with ROS! Also well done on mapping out the debug commants for the stock firmware. Going to go have a read!
edit: ah that lot looks great! (and now we know what MPU it has). I think that “on BLE connect” stuff might be super usefull too with regard to decoding the initialisation messages