Flash Odroid

1. flash odroid (use sd-emmc adapter)
   1. download the .iso file and check md5 md5 <filename>
   2. flash the image
      1. list all the hard drive diskutil list
      2. unmount disk from Disk Utility (Mac OS) or diskutil unmount
      3. dd if=xxx of=xxx
2. attach RTC battery: connect this backup battery to keep the time when your odroid is offline. this battery can keep the RTC running up to 3 years without external power supply.
3. Odroid password: odroid
4. connect to power (5V 4A)
5. shutdown through command line: sudo poweroff

related links:

• [drive imaging] (https://help.ubuntu.com/community/DriveImaging\
• [BARC flashing Odroid] (https://github.com/MPC-Berkeley/barc/blob/master/docs/FlashingEMMC.md\

Arduino

1. compile and upload Arduino node code through Odroid
2. configurations: board: Arduino Nano w/ ATmega328 Serial Port: /dev/ttyUSB0 (fix this with unplug and replug) otherwise report error avrdude stk500_recv() programmer is not responding

Arduino Serial

related links:

• [rosserial_arduino package] (http://wiki.ros.org/rosserial_arduino/Tutorials\
• [add messages] (http://wiki.ros.org/rosserial/Tutorials/Adding Other Messages\
• [rosserial package] (http://wiki.ros.org/rosserial\

It allows your arduino to be a full fledged ROS node which can directly publish and subscribe to ROS messages, publish TF transforms, and get the ROS system time.

1. install Arduino IDE
2. install the ROS libraries at directory sketchbook/libraries/ros_lib

3. generating message header files on Odroid rosrun rosserialarduino make\_libraries path\to\libraries

4. add following to the Arduino programs

# include <ros.h>
# include <xxx/xxx.h>

the directory starts from ~/sketchbook/libraries

ESC motor and Servo

1. motor: sensor cable --> to ESC, otherwise beeps
2. servo: 6.0-7.4 V
   1. • black: negative (Arduino)
      • red: positive (ESC)
      • white: signal (Arduino)
3. Battery: power supply to odroid (through voltage converter) and ESC (directly)
   1. odroid (through voltage regulator LM2596S) 5V
   2. ESC: connect to motor, power servo (red), get motor signal from Arduino (orange) and ground Arduino (brown)

Battery

1. C rating, times amp-hour rating, represents the absolute maximum current that you should draw from the battery
2. charging current: 2-3 A
   1. [lithrium polymer batteries] (https://www.hobbywarehouse.com.au/articles/understanding-lithium-polymer-batteries-the-practical-guide.html\)
3. voltage should remain above 3.7 V per cell, otherwise the battery would be permanently damaged.