Intro
Arduino Motor Controller joshnewans/ros_arduino_bridge
This code turns an Arduino into a motor controller! It provides a simple serial interface to communicate with a high-level computer (e.g. running ROS), and generates the appropriate PWM signals for a motor driver, to drive two motors.
Functionality
The main functionality provided is to receive motor speed requests over a serial connection, and provide encoder feedback. The original code has provisions for other features - e.g. read/write of digital/analog pins, servo control, but I’ve never used them.
The main commands to know are
- e - Motor responds with current encoder counts for each motor
- r - Reset encoder values
- o
- Set the raw PWM speed of each motor (-255 to 255) - m
- Set the closed-loop speed of each motor in counts per loop (Default loop rate is 30, so (counts per sec)/30 - p
- Update the PID parameters