This Arduino library turns an arduino into a multifunction hardware manager. It provides a simple serial interface to communicate with a high-level computer (e.g. running ROS), and generates the appropriate PWM signals for motors and other components.
This is a fork from Josh Ewans's ros_arduino_bridge which is also a fork of the original the original ros_arduino_bridge code. Our version is a lightweight and stripped down version of Josh's code. Check out README-original.md for the original README and README-articulated.md for Josh's README.
As we only need a subset of the functionality originally proposed by this library, the code has been simplified as much as possible and we kept only the features relevant to the project.
The main functionality provided is to receive motor speed requests over a serial connection, control a servo motor and provide system datat feedback.
The main commands to know are:
a- Arduino responds with current open-loop wheel speeds.b- Arduino responds with current open-loop wheel speeds, battery percentage and the amount of duplos eaten.o <RPM1> <RPM2>- Set the raw RPM speed of each motor (-7500 to 7500)s <Val>- Actuate the servo motor depending on val (1 down, 2 up, else iddle)
Some quick things to note:
- There is an auto timeout (default 1s) so you need to keep sending commands for it to keep moving
- Default baud rate is 9600 for the serial communication and 1 000 000 for the servo motor
- Needs carriage return (CR)
- Make sure serial is enabled (user in dialout group)
- Check out the original readme for more