Currently using Beaglebone Debian image:
$ cat /etc/dogtag
BeagleBoard.org Debian Image 2018-01-28
Which contains
$ python --version
Python 2.7.13
$ python3 --version
Python 3.5.3
This Debian image does not include pip for python3 by default. To install it:
sudo apt-get update
sudo apt-get install -y python3-pip
On Python 2:
pip install Adafruit_BBIO
On Python 3:
sudo apt-get install -y python3-smbus
pip3 install Adafruit_BBIO
Test that it worked (replace python with python3 to test Python 3):
$ python -c "import Adafruit_BBIO.GPIO as GPIO; print(GPIO)"
<module 'Adafruit_BBIO.GPIO' from '/home/debian/.cache/Python-Eggs/Adafruit_BBIO-1.0.10-py2.7-linux-armv7l.egg-tmp/Adafruit_BBIO/GPIO.so'>
Hooray this works!
pip install --user -e .
To automatically install the development dependencies
pip install --user -e .[dev]
If you change the gRPC prototype defined in frame_controller/frame_controller.proto, you must install the development dependencies about, then run make proto to rebuild the protobuf definitions.
apps/frame_server is the entrypoint for the frame server.
In one window, run:
python apps/frame_server --fake-hardware
In another window:
python apps/frame_client
In the current configuration,
IMU 1 RX; UART1_RXD; P9.26 IMU 1 TX; UART1_TXD; P9.24 IMU 2 RX; UART4_RXD; P9.11 IMU 2 TX; UART4_TXD; P9.13
Using these serial ports requires configuring the pins on the BBB. This can be done manually with the config-pin command. To query the current pin status:
$ config-pin -q p9.11
P9_11 Mode: default Direction: in Value: 0
In this case P9.11 is current set as a GPIO, not as a UART. To set as a UART (and P9.13 as well):
$ config-pin p9.11 uart
$ config-pin p9.13 uart
Querying again:
$ config-pin -q p9.11
P9_11 Mode: uart
To make this happen automatically, added it to /etc/rc.local
This is the current PWM configuration:
M1_PWM_PIN = "P9_14"
M1_DIRECTION_PIN = "P9_12"
M2_PWM_PIN = "P9_16"
M2_DIRECTION_PIN = "P9_15"
M3_PWM_PIN = "P9_21"
M3_DIRECTION_PIN = "P9_23"
M4_PWM_PIN = "P9_22"
M4_DIRECTION_PIN = "P9_41"