search

PacktPublishing / Artificial-Intelligence-for-Robotics-2e

Artificial Intelligence for Robotics - Second Edition, published by Packt
28 stars 13 forks source link

Chapt 1 control code #3

Open tmccaffr100 opened 5 months ago

tmccaffr100 commented 5 months ago

The control code in Chapt 1 is minimally changed from the 1st edition. The base motor control is the same as the 1st ed even though the drive has changed from a tractor drive to a four wheel Mecanum drive. I see from the text that it appears to be the intent to drive the Mecanum wheels as a tank drive. There is no wiring diagram but this would entail tying front and rear motor drives together. Will this be updated?

FGovers commented 5 months ago

Hello. Thanks for the note. Yes, I still used the same "tank drive" commands in 2ndEd as in the first book, as I did not need the strafing to get all of my tasks done. I will be posting new arduino code that will let you drive the robot base in any direction using the ROS2 Twist command. For the robot as built, both both motors, right and left, get the same commands so there are only two command channels., I'll make corrections to the code for that. I admit what got posted was not the code I'm driving with. Best regards Francis Govers

ErnieAyon commented 4 months ago

I've purchased all the parts listed in the book and have been struggling to understand the code for Chapter 1 motor control. Any pointers on examples for 4 wheel drive? Really struggling to grasp this stuff and having a mis-matching book/code does not help.