andino_firmware

Firmware code to be run in the arduino microcontroller for proper control of the motors of the robot.

Connection

Check encoder_driver.h and motor_driver.h files to check the expected pins for the connection.

Installation

Arduino

In Arduino IDE, go to tools->Manage Libraries ... and install:

• “Adafruit BNO055”

Verify and Upload andino_firmware.ino to your arduino board.

PlatformIO

1. Install dependencies sudo apt-get install python3.10-venv
2. Install platformio

curl -fsSL -o /tmp/get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
python3 /tmp/get-platformio.py

1. Add platformio to your $PATH:

echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
source $HOME/.bashrc

1. Build and upload the firmware
   • If you’re using an arduino uno pio run --target upload -e uno
   • If you’re using an arduino nano pio run --target upload -e nanoatmega328

Description

Via serial connection (57600 baud) it is possible to interact with the microcontroller. The interface is described in the commands.h file. Here are the most used commands:

• Get encoder values: 'e'
• Set open-loop speed for the motors[pwm] 'o <left> <right>'
  • Example to move forward full speed: 'o 255 255'
  • Range [-255 -> 255]
• Set closed-loop speed for the motors[ticks/sec] 'm <left> <right>'
  • Important!: See the Test it! section.
• Set PID values: 'u <kp> <kd> <ki> <offset>'

Note: Remember the carriage return character at the end of the message.

Test it!

A serial port connection must be created at 57600 bauds. You can use the serial monitor from Arduino IDE for example.

• Open loop verification:
  • Send o 255 255 to go full speed
  • Send o 0 0 to stop it.
• Read the encoders
  • Send e to get the encoders values.
• Get the ticks per revolution of your motor.
  • First set the encoders to zero, (reeboting with r).
  • Then rotate your motors as many revs you want,(say 10 for example) and then divide the encoder ticks per the number of revs. -> Then you get the ticks per revolution. Save this value, it is calibration for the control loop.
• Closed loop verification
  • Send m <tps> <tps> where tps stands for ticks per second. For example if your motor-encoder system gets 700 ticks per revolution then sending m 700 700 will rotate both motors at 1 rev per sec. (~3.14rad/sec)

Changelog for package andino_firmware

0.2.0 (2024-07-19)

• Camera info yaml (#231)
• Improve Shell unit tests (#245)
• fix minor typo in App class (#246)
• Changes to add IMU to andino firmware (#215)
• Add Shell class tests (#242)
• Modify Shell class API to allow dependency injection (#221)
• Add basic Platform IO instructions (#229)
• Add serial stream interface and the Arduino implementation (#220)
• Rename PID class (#218)
• Rename init method from Shell class (#219)
• Add PID class tests (#217)
• Only send motor commands if pid is enabled (#222)
• Add Encoder unit tests (#214)
• Add Motor unit tests (#211)
• Modify Encoder class API to allow dependency injection (#213)
• Modify Motor class API to allow dependency injection (#210)
• Add digital in interface (#212)
• Add PWM output interface and the Arduino implementation (#209)
• Add digital output interface and the Arduino implementation (#208)
• Fix Arduino header file inclusion (#207)
• Add basic setup for unit testing (#205)
• Improve app loop (#197)
• Improve command prompt parsing (#194)
• Add Shell class (#193)
• Supports Arduino Nano by providing a new Arduino configuration. (#195)
• Fixes some compilation warnings. (#196)
• Add command methods (#187)
• Enable all compiler warnings (#186)
• Add Hw struct (#177)
• Add Constants struct (#176)
• Add App class (#175)
• Add main function (#173)
• Fixes link to commands. (#178)
• Add Encoder class (#172)
• Contributors: Agustin Alba Chicar, Franco Cipollone, Gary Servin, Gonzo, Javier Balloffet, Jesús Silva

0.1.0 (2023-10-09)

• Don't send stop constantly (#150)
• Make sure to initialize motor speeds (#149)
• Adds package structures to firmware and hardware. (#133)
• Add PCInt class (#131)
• Improve PID class (#128)
• Add PID class (#125)
• Refactor PID module (#124)
• Replace include guard in hw.h with pragma directive (#126)
• Remove blank line (#127)
• Add Motor class (#108)
• Move pin definitions to hw.h header file (#107)
• Add ClangFormat config file (#106)
• Add PlatformIO support (#86)
• Contributors: Franco Cipollone, Gary Servin, Javier Balloffet