> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/lab-robots/linorobot/stack.md).

# stack.md

## Intro to LinoRobot

## Intro

Examine [Linorobot](https://campus-rover.gitbook.io/lab-notebook/fiiva/lab-robots/linorobot/www.linorobot.org) again. You will see very detailed instructions for building a robot, both the hardware and the software. In our world, **bullet**, **platform**, **cat** are all fully compliant Linorobot robots.

## Base hardware stack

* For the SBC we use either a Rasperry Pi 3B+ or a Raspberry Pi 4
  * Lidar is connected via USB to the Raspberry Pi
  * The Microcontroller is connected via USB to the Raspberry Pi
* For the microcontroller we use either a Teensy 3.2 or a Teensy 4.x (check this)
  * The motor controller is connected to the Teensy via
  * The IMU is connected to the Teensy via I2C bus

### SBC Software

The SBC is running Ubuntu 20.04 and ROS 1.0. It is a standard install which we get from the Linorobot installation. Of course our own ROS code and scripts are then added to it. Certain standard Linorobot Nodes are launched.

#### Standard Linorobot Nodes

### Microcontroller Software

The Teensy code is provided by Linorobot. We have tweaked it in small ways. See [How To](https://github.com/campusrover/labnotebook/blob/master/lab-robots/linorobot/linorobot/howto.md) for information on rebuilding it and installing the software. This software has the following jobs:

1. Read the encoders to determine the apparent speed and direction of the robot
2. Subscribe to cmd\_vel to determine the desired speed and direction
3. Use a PID controller to drive the motors to meet the desired speed and direction
4. Publish the actual speed and direction as computed by the encoders as `ODOM_RAW`
5. Read the IMU data (via the I2C bus) and publish it as `IMU_RAW`
6. Read other I2C sensors and actuators (coming soon!)


---

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