Package Summary

Tags No category tags.
Version 0.1.0
License BSD Clause 3
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Ekumen-OS/andino.git
VCS Type git
VCS Version humble
Last Updated 2024-02-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The andino_firmware package

Additional Links

No additional links.

Maintainers

  • Franco Cipollone
  • Javier Balloffet

Authors

No additional authors.

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

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

Changelog for package andino_firmware

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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