Greybus for Robotics with Zephyr RTOS
summary
Greybus runs over Zephyr RTOS to mirror I2C/GPIO devices to Linux hosts using Beagle connect Freedom and a beagle play gateway via TCP or sub‑GHz links; a record‑and‑playback scratchpad adds conditional and loop ops so a control loop offloads to the remote MCU without firmware changes. A Python/Jupyter prototype assembles sequences, dispatches them, and achieves control update rates rising from ~25 Hz to ~1–2 kHz, and the line‑tracer robot runs successfully.
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chapters (8)
- 0:00Start
- 1:11Overview
- 9:32BeagleConnect
- 14:02Limitations of greybus for loT and Real-time Control Applications
- 17:27Greybus operation
- 19:01Greybus Python Host
- 20:13Overcoming limitations | Proof of Concept
- 24:40Demo: Line Tracer
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