Configure Controller

Set up an ArduMY-compatible controller (Arduino) to interface hardware with your OctoMY™ Agent.

Pro Tip

Start with an Arduino Mega 2560 if you're unsure - it has plenty of pins and PWM channels for most projects. You can always switch to a smaller board once you know your exact requirements.

What is ArduMY?

ArduMY is OctoMY™'s hardware interface protocol. It runs on Arduino-compatible boards and provides:

• Actuator control - Servos, motors, relays
• Sensor reading - Distance, temperature, IMU
• Real-time communication - Serial protocol with the Agent
• Fail-safe operation - Safe state on connection loss

Supported controllers

Recommended: Arduino Mega 2560 for most projects.

Step 1: Flash ArduMY firmware

Using Arduino IDE

1. Download ArduMY firmware from OctoMY™ repository:

   cd ~/Arduino/libraries
   git clone https://github.com/mrdeveloperdude/OctoMY-ArduMY
   

2. Open Arduino IDE

3. Open the ArduMY sketch:

   • File → Examples → OctoMY™-ArduMY → ArduMY

4. Select your board:

   • Tools → Board → Arduino Mega 2560

5. Select port:

   • Tools → Port → /dev/ttyUSB0 (or similar)

6. Upload:

   • Click Upload button (→)

Using command line

# Install arduino-cli if not present
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh

# Compile and upload
arduino-cli compile --fqbn arduino:avr:mega ArduMY
arduino-cli upload -p /dev/ttyUSB0 --fqbn arduino:avr:mega ArduMY

Step 2: Connect controller to Agent

Physical connection

Serial permissions (Linux)

# Add user to dialout group
sudo usermod -a -G dialout $USER

# Apply changes (or logout/login)
newgrp dialout

Step 3: Configure in Agent

On the Agent device:

1. Open ☰ Menu → Settings
2. Go to Hardware → Controller
3. Tap [Add Controller]

Step 4: Verify connection

After connecting, verify communication:

Step 5: Configure serial settings

Adjust serial communication if needed:

Note: Baud rate must match firmware setting.

Step 6: Configure fail-safe

Set what happens when connection is lost:

Multiple controllers

For complex robots, connect multiple controllers:

Pin configuration

View pin map

Reserved pins

Some pins are reserved:

Troubleshooting

Controller not detected

# Check USB connection
lsusb | grep -i arduino

# Check serial device
ls /dev/tty*

# Check permissions
ls -la /dev/ttyUSB0

"Permission denied" error

# Add to dialout group
sudo usermod -a -G dialout $USER

# Immediate fix (temporary)
sudo chmod 666 /dev/ttyUSB0

Communication errors

1. Check baud rate - Must match firmware
2. Check cable - Use quality USB cable
3. Check interference - Keep away from motors
4. Reset controller - Press reset button

Firmware version mismatch

Agent expects: ArduMY v1.2.x
Controller has: ArduMY v1.0.0

Solution: Reflash controller with latest firmware

High latency

Command line configuration

Check controller status

# View connected controllers
./agent --list-controllers

# Test specific port
./agent --test-controller /dev/ttyUSB0

Set serial port

# Specify port at startup
./agent --personality MyRobot --controller /dev/ttyUSB0

Debug mode

# Enable controller debug output
./agent --personality MyRobot --debug-hardware

Configuration file

Controller settings are stored in:

~/.local/share/OctoMY™/OctoMY Agent/<personality>/hardware.json

Example:

{
  "controllers": [
    {
      "name": "Primary Controller",
      "port": "/dev/ttyUSB0",
      "baudRate": 115200,
      "firmware": "ArduMY",
      "failsafe": {
        "timeout": 1000,
        "servoAction": "safe_position",
        "motorAction": "brake"
      }
    }
  ]
}