Swapped from teensy3.6 to teensy4.1 and wheels no longer turning.

[cottot]

I inherited this robot for a project at work and I am trying to get it up and working. I was following the guide but couldn't get it to work with the teensy36 so I swapped it out with a teensy41. The problem I am running into is that the wheels just don't turn or do anything. I cabled this exactly the same as I had on my teensy36 but instead of using pins 21 and 20 I an now using 1 and 0.

#define MOTOR1_IN_A 1 // Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
#define MOTOR1_IN_B 0 // Pin no 20 is not a PWM pin on Teensy 4.x, you can use pin no 0 instead.

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>
screen /dev/ttyACM0
sample or spin <--Instantly closes the screen when I type this.

This is the setup and how my cables are currently wired.

Is there any way to see if the pins I am using on the teensy are actually sending the correct signals to the BTS7960_MOTOR_DRIVER?

`// Copyright (c) 2021 Juan Miguel Jimeno
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef LINO_BASE_CONFIG_H
#define LINO_BASE_CONFIG_H

#define LED_PIN 13 //used for debugging status

//uncomment the base you're building
//#define LINO_BASE DIFFERENTIAL_DRIVE // 2WD and Tracked robot w/ 2 motors
// #define LINO_BASE SKID_STEER // 4WD robot
#define LINO_BASE MECANUM // Mecanum drive robot

//uncomment the motor driver you're using
//#define USE_GENERIC_2_IN_MOTOR_DRIVER // Motor drivers with 2 Direction Pins(INA, INB) and 1 PWM(ENABLE) pin ie. L298, L293, VNH5019
// #define USE_GENERIC_1_IN_MOTOR_DRIVER // Motor drivers with 1 Direction Pin(INA) and 1 PWM(ENABLE) pin.
#define USE_BTS7960_MOTOR_DRIVER // BTS7970 Motor Driver
// #define USE_ESC_MOTOR_DRIVER // Motor ESC for brushless motors

//uncomment the IMU you're using
#define USE_GY85_IMU
// #define USE_MPU6050_IMU
// #define USE_MPU9150_IMU
// #define USE_MPU9250_IMU
// #define USE_QMI8658_IMU
// #define USE_HMC5883L_MAG
// #define USE_AK8963_MAG
// #define USE_AK8975_MAG
// #define USE_AK09918_MAG
// #define USE_QMC5883L_MAG
// #define MAG_BIAS { 0, 0, 0 }

#define K_P 0.6 // P constant
#define K_I 0.8 // I constant
#define K_D 0.5 // D constant

/*
ROBOT ORIENTATION
FRONT
MOTOR1 MOTOR2 (2WD/ACKERMANN)
MOTOR3 MOTOR4 (4WD/MECANUM)
BACK
*/

//define your robot' specs here
#define MOTOR_MAX_RPM 140 // motor's max RPM
#define MAX_RPM_RATIO 0.85 // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO
#define MOTOR_OPERATING_VOLTAGE 24 // motor's operating voltage (used to calculate max RPM)
#define MOTOR_POWER_MAX_VOLTAGE 24 // max voltage of the motor's power source (used to calculate max RPM)
#define MOTOR_POWER_MEASURED_VOLTAGE 24 // current voltage reading of the power connected to the motor (used for calibration)
#define COUNTS_PER_REV1 144000 // wheel1 encoder's no of ticks per rev
#define COUNTS_PER_REV2 144000 // wheel2 encoder's no of ticks per rev
#define COUNTS_PER_REV3 144000 // wheel3 encoder's no of ticks per rev
#define COUNTS_PER_REV4 144000 // wheel4 encoder's no of ticks per rev
#define WHEEL_DIAMETER 0.152 // wheel's diameter in meters
#define LR_WHEELS_DISTANCE 0.271 // distance between left and right wheels
#define PWM_BITS 10 // PWM Resolution of the microcontroller
#define PWM_FREQUENCY 20000 // PWM Frequency

// INVERT ENCODER COUNTS
#define MOTOR1_ENCODER_INV false
#define MOTOR2_ENCODER_INV false
#define MOTOR3_ENCODER_INV false
#define MOTOR4_ENCODER_INV false

// INVERT MOTOR DIRECTIONS
#define MOTOR1_INV false
#define MOTOR2_INV false
#define MOTOR3_INV false
#define MOTOR4_INV false

// ENCODER PINS
#define MOTOR1_ENCODER_A 9
#define MOTOR1_ENCODER_B 10

#define MOTOR2_ENCODER_A 11
#define MOTOR2_ENCODER_B 12

#define MOTOR3_ENCODER_A 17
#define MOTOR3_ENCODER_B 16

#define MOTOR4_ENCODER_A 14
#define MOTOR4_ENCODER_B 15

// MOTOR PINS
#ifdef USE_GENERIC_2_IN_MOTOR_DRIVER
#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
#define MOTOR1_IN_A 20
#define MOTOR1_IN_B 1

#define MOTOR2_PWM 5
#define MOTOR2_IN_A 6
#define MOTOR2_IN_B 8

#define MOTOR3_PWM 22
#define MOTOR3_IN_A 23
#define MOTOR3_IN_B 0

#define MOTOR4_PWM 4
#define MOTOR4_IN_A 3
#define MOTOR4_IN_B 2

#define PWM_MAX pow(2, PWM_BITS) - 1
#define PWM_MIN -PWM_MAX
#endif

#ifdef USE_GENERIC_1_IN_MOTOR_DRIVER
#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
#define MOTOR1_IN_A 20
#define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR2_PWM 5
#define MOTOR2_IN_A 6
#define MOTOR2_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR3_PWM 22
#define MOTOR3_IN_A 23
#define MOTOR3_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR4_PWM 4
#define MOTOR4_IN_A 3
#define MOTOR4_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define PWM_MAX pow(2, PWM_BITS) - 1
#define PWM_MIN -PWM_MAX
#endif

#ifdef USE_BTS7960_MOTOR_DRIVER
#define MOTOR1_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR1_IN_A 1 // Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
#define MOTOR1_IN_B 0 // Pin no 20 is not a PWM pin on Teensy 4.x, you can use pin no 0 instead.

#define MOTOR2_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR2_IN_A 5
#define MOTOR2_IN_B 6

#define MOTOR3_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR3_IN_A 22
#define MOTOR3_IN_B 23

#define MOTOR4_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR4_IN_A 4
#define MOTOR4_IN_B 3

#define PWM_MAX pow(2, PWM_BITS) - 1
#define PWM_MIN -PWM_MAX
#endif

#ifdef USE_ESC_MOTOR_DRIVER
#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x. You can use pin no 1 instead.
#define MOTOR1_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR2_PWM 5
#define MOTOR2_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR2_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR3_PWM 22
#define MOTOR3_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR3_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define MOTOR4_PWM 4
#define MOTOR4_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
#define MOTOR4_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

#define PWM_MAX 400
#define PWM_MIN -PWM_MAX
#endif

#endif`

[cottot]

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