Package Summary

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

Repository Summary

Checkout URI
VCS Type git
VCS Version humble
Last Updated 2024-06-17
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
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Package Description

The andino_firmware package

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  • Franco Cipollone
  • Javier Balloffet


No additional authors.


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


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



In Arduino IDE, go to tools->Manage Libraries ... and install: - "Adafruit BNO055"

Verify and Upload andino_firmware.ino to your arduino board.


  1. Install dependencies sudo apt-get install python3.10-venv
  2. Install platformio
curl -fsSL -o /tmp/
python3 /tmp/

  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


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

0.1.0 (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.

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Package Dependencies

Deps Name
1 ament_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

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