1 - BASIC TRAINING - Get started with Arduino and the Teensy 4.0 microcontroller

Video: https://youtu.be/E-hdxyvDgfc?si=FKyMjhcq0SPTUvTZ

Full code and manual on GitHub
Quadcopter frame PCB on OSHW lab

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Table of Contents:

A) Introduction - concepts, microcontroller and Arduino

Welcome to this video series where you will learn how to build, program, and fly your own quadcopter. I will guide you every step of the way to create a basic quadcopter, starting with this first introduction session. Let's get to it!

In this session, you will learn the general concept behind a quadcopter,

its major components,

and how to set up the core of this project—a Teensy microcontroller,

programmable with the Arduino language.

B) Review: Our Quadcopter

Let’s have a brief look at the quadcopter we are going to build. It consists of:

• a lower deck with four motors,
• a receiver,
• and a place to hold the battery.

The upper deck holds the other electronic components, with the green Teensy microcontroller in the middle.

You’ll also see a green and red LED and an XT60 pigtail for the battery.

Without the battery, the quadcopter weighs around 175 grams or 6.2 ounces. Including the battery, the weight comes in just under 250 grams.

Thanks to its small size, this quadcopter is capable of flying both indoors and outdoors.

C) Quadcopter Components

A quadcopter relies on four motors and propellers to provide enough thrust to start flying.

Other necessary components include the

• radio control system, consisting of a radio transmitter and a receiver,
• a flight control system consisting of a microcontroller and an orientation sensor,
• and finally, a powertrain with a battery, electronic speed controllers, motors, and propellers.

And basically, that’s all there is to it.

C.1) Teensy 4.0 microcontroller

The first component we will discuss in detail is the microcontroller.

For this project, I will use the Teensy 4.0 microcontroller.

It has enough ports to send and receive signals from all other components and is both small and very capable.

The Arduino software will be used to program the Teensy.

C.1.1) How to connect the Teensy 4.0

To connect the Teensy to your laptop or computer, you will need a USB-A to micro-B connector.

The orange LED on your Teensy should blink slowly after connecting it to your computer.

Press and release the tiny push button on the Teensy, and the orange blinking LED should stop,

while the red Teensy LED should become visible. This means your Teensy is working correctly.

C.1.2) Required Software to run the Teensy (download)

Now that you know your Teensy is working correctly, download and install the Teensy loader program.

If you do not have the Arduino software yet, download the latest version from the Arduino website and install it on your computer.

The third and final piece of software to install is Teensyduino, available on the PJRC website.

C.1.4) Example - How to Upload the "Blink" program to the Teensy

Let's now open the Arduino IDE. Copy the code for the blink program,

Click on “Verify”

and save the file under the name “Blink.”

After verification, you should see the message "Done compiling" on your screen.

Before you can upload your verified code to your Teensy, you need to set up your Teensy in the Arduino IDE. Go to “Tools” and select the Teensy 4.0 board.

Verify that the USB type is set to “Serial”

and that the CPU speed is set to 600 MHz.

Also, check the laptop port that holds the connection with your Teensy.

Connect the Teensy again to the computer,

and press the upload button.

The internal Teensy LED will start blinking faster.

You can increase the blinking speed by decreasing the delay time in the code from 500 milliseconds to, for example, 100 milliseconds.

Congratulations, you’ve successfully uploaded your first program to the microcontroller! In the next video, you will learn how your Teensy can generate external commands.

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Z) 🗃️ Glossary