Overview: Firmware

The robot PC device drivers are hosted at yarp-devices, and configured for TEO via teo-configuration-files. TEO uses three instances of this repository:

• manipulation: For the TEO manipulation PC (arms and head joint control, JR3 force/torque sensors).
• locomotion: For the TEO locomotion PC (legs and torso joint control, Xsens inertial sensor)
• head: For the TEO head PC (ASUS XTion Pro Live RGBD sensor, PointGrey RGB camera).

More details on these instances and their configuration can be found in Network Information.

Additional low-level microcontroller firmware used in TEO can be found here:

• cui-pic-firmware
• lacquey-pic-firmware (legacy)
• jr3-mbed-firmware (includes a PWM controller for the Lacquey fetch hand)
• textiles-arduino-firmware
• Dextra