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clank/firmware/README.md

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Setup Clank Firmware on Teensy 4.1

The Clank robot relies on a custom built Micropython binary for the MIMXRT port, which includes an experimental api for hardware based quadrature encoders. The reference implementation is tested using a Teensy 4.1 and code from this PR to the micropython upstream repository which is on Micropython 1.19.4 version. Other MIMXRT board should be sufficient, but this in unverified. Copies of these custom binaries are provided in the firmware/hex directory. Alternatively, you can attempt to build your own binaries from the PR's source following the Build Micropython for the Teensy 4.0/4.1 instructions.

Flashing the Teensy 4.1 with Clank's custom firmware

Instructions for generically flashing the Teensy can be found on the pjrc website here. The below instructions were performed using an Ubuntu linux desktop. Instructions for flashing the Teensy from an Ubuntu desktop can be found here.

Flashing the Teensy 4.1 with the upy_clank Micropython code

TODO add instructions for using mpremote to deploy upy_clank code to Teensy 4.1 microcontroller.