From 8bac0cea91907ae0c0ed738d2a77f55fb47590e5 Mon Sep 17 00:00:00 2001
From: Raghava Uppuluri <raghava.upp13@gmail.com>
Date: Sat, 27 Jan 2024 16:40:49 -0500
Subject: [PATCH] HOTFIX: fixed teensy compile,upload toolchain

---
 .gitignore                                    |  1 +
 .../firmware/setup_flash_tools.sh             | 17 -----------------
 .../firmware/setup_teensy_toolchain.sh        | 19 +++++++++++++++++++
 lunabot_embedded/readme.md                    | 16 +++++++++++-----
 4 files changed, 31 insertions(+), 22 deletions(-)
 delete mode 100755 lunabot_embedded/firmware/setup_flash_tools.sh
 create mode 100755 lunabot_embedded/firmware/setup_teensy_toolchain.sh

diff --git a/.gitignore b/.gitignore
index 3fb41088..43bc8ced 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+teensy_loader_cli
 # datasets
 data/
 *.lz4
diff --git a/lunabot_embedded/firmware/setup_flash_tools.sh b/lunabot_embedded/firmware/setup_flash_tools.sh
deleted file mode 100755
index 4ac56d27..00000000
--- a/lunabot_embedded/firmware/setup_flash_tools.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/sh
-
-## Installs compilation tools
-arduino-cli config init
-python3 update_board_manager.py 
-arduino-cli core install teensy:avr
-arduino-cli lib install HX711-master
-arduino-cli lib install ADS1115-Lite
-
-## Installs teensy flasher
-sudo apt-get install libusb-dev
-git clone https://github.com/PaulStoffregen/teensy_loader_cli
-cd teensy_loader_cli
-make
-sudo make install
-cd ..
-rm -rf teensy_loader_cli
diff --git a/lunabot_embedded/firmware/setup_teensy_toolchain.sh b/lunabot_embedded/firmware/setup_teensy_toolchain.sh
new file mode 100755
index 00000000..2d90f90d
--- /dev/null
+++ b/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 ..
diff --git a/lunabot_embedded/readme.md b/lunabot_embedded/readme.md
index 15d39b81..23430c92 100644
--- a/lunabot_embedded/readme.md
+++ b/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
 ```