# mih_interact (ROS2)

### 1. LEDs
- teensy 3.2
- 
- neopixel
- logic level shifter
- CAN-BUS
- [How to use CAN bus on Teensy 4.1, 4.0 and 3.2 ?](https://forum.pjrc.com/threads/64321-How-to-use-CAN-bus-on-Teensy-4-1-4-0-and-3-2)
- [FlexCAN library](https://github.com/pawelsky/FlexCAN_Library)
- read and write test w/ kvaser node

    #include <FlexCAN_T4.h>

    FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> can0;
    CAN_message_t msg;
    CAN_message_t tx_msg;

    int LED_PIN = 13;

    void setup(void) {
      can0.begin();
      can0.setBaudRate(500000);

      pinMode(LED_PIN, OUTPUT);
      digitalWrite(LED_PIN, 1);

      delay(500);
      Serial.println(F("Hello Teensy 3.2 CAN Test."));

    }

    void loop() {


      if ( can0.read(msg) ) {
        Serial.print("CAN0 "); 
        Serial.print("MB: "); Serial.print(msg.mb);
        Serial.print("  ID: 0x"); Serial.print(msg.id, HEX );
        Serial.print("  EXT: "); Serial.print(msg.flags.extended );
        Serial.print("  LEN: "); Serial.print(msg.len);
        Serial.print(" DATA: ");
        for ( uint8_t i = 0; i < msg.len; i++ ) {
          Serial.print(msg.buf[i]); Serial.print(" ");
        }
        Serial.print("  TS: "); Serial.println(msg.timestamp);
        digitalWrite(LED_PIN, !digitalRead(LED_PIN));
      }
      else {
        tx_msg.mb= 0;
        tx_msg.id= 0x7FF;
        tx_msg.flags.extended= 0;
        tx_msg.len= 8;
        tx_msg.buf[0]='a';
        tx_msg.buf[1]='b';
        tx_msg.buf[2]='c';
        tx_msg.buf[3]='d';
        tx_msg.buf[4]='e';
        tx_msg.buf[5]='f';
        tx_msg.buf[6]='g';
        tx_msg.buf[7]='h';
        can0.write(tx_msg);
      }
    }

- Kvaser can-bus official ROS pkg does not support to ROS2 foxy

- on ROS1 **(uint8[8] data)**

        rostopic pub -r 10 /can_rx can_msgs/Frame "header:
          seq: 0
          stamp: {secs: 0, nsecs: 0}
          frame_id: ''
        id: 0x0D
        is_rtr: false
        is_extended: false
        is_error: false
        dlc: 4
        data: [1,2,3,4,5,6,7,8]" 

### 2. Dynamixel
- Pre-install
`sudo apt install ros-foxy-dynamixel-sdk ros-foxy-dynamixel-sdk-custom-interfaces ros-foxy-dynamixel-sdk-examples`
- Dynamixel SDK
- [eManual](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/device_setup/#controller)
- [AX-12 control table](https://emanual.robotis.com/docs/en/dxl/ax/ax-12a/#control-table-data-address)
- [DYNAMIXEL Protocol 1.0](https://emanual.robotis.com/docs/en/dxl/protocol1/)

### 3. PoseNet
- PoseNet
- [TPU Posenet ROS2](https://github.com/shunchan0677/TPU-Posenet-ROS2)