jerinpeter
commented
1 year ago Wiring Wiring is pretty straight forward
- Assign unique Slave ID's to all 4 motors, you can do so by referring to the rmcs manual.
- Connect the TX, RX, GND of all the motors in parallel.
- From this connect to the TX, RX, and GND of the Arduino Mega.
- Upload the code, Specify the code in the code and you are good to GO!
Skid Steer Implementation For the simulation, I have used the skid steer gazebo plugin. which takes care of everything and can accept cmd_vel and drive the Robot.
I have also implemented diff_drive_controller from ros_control in the simulation but as it needs an hardware interface code, I haven't implemented that in the real robot.
You can refer to the code for the same here
Currently,I haven't implemented a controller for the real robot. The RMCS 2303 motor drivers do have an inbuilt PID controller running in them which will do the RPM correction.
In the Arduino Code I have written, I have treated the left [front, back] and right[ front, back] as one and wrote code in such a way that left wheel and right velocity calculated goes to both the front and back wheels respectively.
t33xdr
Great work. Could you add the wiring diagram? Curious on how to implement the skid steer(from navbot_description) . How to combine left [( front ,back) motors as one topic] & [right] as another while using individual controllers for four motors as you did. Noted that rmcs gets data from 2 slave ids -#2 & #4.Thanks.