chvmp / firmware Goto Github PK

Hi ! I have managed to port this code for STM32 Microcontroller. Everything works excellent. One Issue I am having is setting the zero config of physical robot. The Motor I am using is AK70-10. I understand that zero config of the robot is the legs laying perpendicular to the base of the robot. But I have to set the zero config position every time I boot up the robot. Are there any methods to do this homing efficiently ?

I have come back to the project after a 2 year hiatus. The firmware build (already on the Teensy) ran with no problems but when I tried to re-upload it (as a test before making some revisions) it compiles and uploads successfully but then puts the teensy into a reboot loop.

I am trying to eliminate possible causes but not getting very far. So far I believe problems begin in constructors.h(166) champ::Interfaces::ROSSerial ros_interface;
If I // these 3 lines then the compiled code uploads without causing the teensy to reboot.

Is there a specific type / version of compiler needed or advise in troubleshooting further please as I am stuck.