Pitt RAS Micromouse

This is an Arduino project for Teensy 3.1/3.2.

Dependencies

• Teensyduino https://www.pjrc.com/teensy/td_download.html

• Encoder (patched) https://github.com/pitt-ras/Encoder

• I2Cdev and MPU9150 (patched) https://github.com/pitt-ras/i2cdevlib

Overclocking

In the code, we enforce 144 MHz. By default, this is disabled in Teensyduino. To enable this clock speed:

1. Find your Arduino installation. Typical locations are:

   • /usr/share/arduino (Linux)

   • /Applications/Arduino.app (Mac)

   • C:\Program Files\arduino (Windows)

   • somewhere in your home directory (local installation)

2. In your Arduino installation, find your Teensy boards.txt file. Typical locations are:

   • hardware/teensy/avr/boards.txt

   • Java/hardware/teensy/avr/boards.txt

3. Uncomment this line:

   teensy31.menu.speed.144=144 MHz (overclock)

4. Restart the Arduino IDE to pick up configuration changes.