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alexispascual / GreenBot

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Teleoperation: Output appropriate PWM signals based on the command from the main PC #1

Closed alexispascual closed 3 years ago

alexispascual commented 4 years ago

Twist messages output linear and angular velocities. We need to translate this directly to PWM signals on the motor controllers.

alexispascual commented 4 years ago

For the most part, the greenbot.ino Arduino script does this already. We now have to figure out how to do reversing.

TODO: Reversing wheels

alexispascual commented 4 years ago

I just realized. It would be better if we do the processing on the node and simply send movement commands to the Arduino. This would be way better in the long run.

alexispascual commented 4 years ago

We also need to send speeds. For now, the movement we'll have to worry about first is just going forwards and backwards, and turning on the spot. We'll worry about turning while moving forward in the future (if we have to).

alexispascual commented 3 years ago

Successfully wrote a package for listening to Joy messages. This package sends speed as well as direction information.

TODO: Modify teleop_greenbot package to accept the new messages.

alexispascual commented 3 years ago

This was completed yesterday. Testing will resume once the encoder cables have arrived.