Configuring Cerebri Software for MR-CANHUBK344 Without Power Measurement Capability

If you're integrating the Cognipilot software with the MR-CANHUBK344 and are not using a Power Distribution Board (PDB) with power measurement capability, you'll need to make a specific configuration adjustment to ensure proper functionality. This guide walks you through the necessary steps to modify the configuration for compatibility with your hardware setup.

When you are building the Cognipilot software Cognipilot: Prepare MR-CANHUBK344 for the real robot operation on the MR-CANHUBK344, if its the case that you are not using PDB without power measurement capability, shown in the above picture you have to make the following update:

Step 1: Update Configuration

Initially, you must update a configuration line in the prj.conf file to reflect the absence of power measurement capabilities in your setup. Follow these instructions:

1. Navigate to the configuration file located at ~/cognipilot/ws/cerebri/app/b3rb/prj.conf.

2. Locate the line CONFIG_CEREBRI_SENSE_POWER=y and also the following line: CONFIG_CEREBRI_SENSE_SAFETY=y

3. Change this line to CONFIG_CEREBRI_SENSE_POWER=n and also change the following line: CONFIG_CEREBRI_SENSE_SAFETY=n

4. This adjustment disables the power sensing feature, accommodating the hardware limitation.

Step 2: Apply Changes and Build

After updating the configuration, proceed with the following steps to apply the changes and build the software:

cd ~/cognipilot/ws/cerebri
west update
cd ~/cognipilot/ws/cerebri/app/b3rb
west build -b mr_canhubk3 -p
west flash

By following these steps, you configure the Cognipilot software to operate correctly with your MR-CANHUBK344 hardware without power measurement capability.