HOTFIX: fixed teensy compile,upload toolchain

.gitignore

@@ -1,3 +1,4 @@
+teensy_loader_cli
 # datasets
 data/
 *.lz4

lunabot_embedded/firmware/setup_teensy_toolchain.sh

@@ -0,0 +1,19 @@
+#!/bin/sh
+## Installs compilation tools
+arduino-cli config init
+python3 update_board_manager.py 
+arduino-cli core install teensy:avr
+arduino-cli lib install Stepper
+
+## Installs teensy flasher
+sudo apt-get install libusb-dev
+git clone https://github.com/PaulStoffregen/teensy_loader_cli
+cd teensy_loader_cli
+make
+echo "Installing teensy_loader_cli..."
+read -p "Enter the teensy_loader_cli install directory (press Enter for default: /usr/local/bin): " install_dir
+if [ -z "$install_dir" ]; then
+  install_dir="/usr/local/bin"
+fi
+sudo ln -s $(readlink -f teensy_loader_cli) $install_dir/teensy_loader_cli
+cd ..

lunabot_embedded/readme.md

@@ -10,28 +10,34 @@
 
 code in `firmware/teensy_main/`
 
+### Supported Platforms
+- Linux
+  - use WSL2 if on Windows or dual-boot
+- MacOS 12.3+ (Monterey)
+
 ### Prerequisites
 - [Install arduino-cli compilation toolchain](https://arduino.github.io/arduino-cli/0.35/installation/#use-the-install-script)
+- ROS is NOT required
 
 ### Quick start
 
 1. Setup development environment 
 
 ```
-roscd lunabot_embedded/firmware
-./setup_flash_tools.sh
+cd lunabot_embedded/firmware
+./setup_teensy_toolchain.sh
 ```
 
 2. Add aliases to simplify compilation (in `.bashrc` or `.zshrc`):
 ```
-alias teensy_compile="arduino-cli compile --build-path build --libraries lib --fqbn teensy:avr:teensy41:usb=rawhid teensy_main"
+alias teensy_compile="arduino-cli compile --build-path build --libraries lib --fqbn teensy:avr:teensy41:usb=rawhid teensy_main.ino"
 alias teensy_upload="teensy_loader_cli --mcu=TEENSY41 -wv build/teensy_main.ino.hex"
 ```
 
 3. Compile (no hardware needed) + Upload
 
 ```
-roscd lunabot_embedded/firmware/teensy_main
+cd lunabot_embedded/firmware/teensy_main
 teensy_compile
 teensy_upload
 ```
@@ -40,6 +46,6 @@ teensy_upload
 
 ```
 pip3 install nanopb
-roscd lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers
+cd lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers
 python3 -m nanopb.generator.nanopb_generator -L quote RobotMsgs.proto
 ```