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mgonzs13 / ros2_rover

A version of Sawppy the Rover for ROS 2
MIT License
58 stars 5 forks source link

Add support for I2C Adafruit servo board? #5

Open samuk opened 2 years ago

samuk commented 2 years ago

Would you consider adding support for this 16ch servo board & it's clones

Here are the Pi instructions

I'm interested in trying these waterproof servos but they are not the bus type.

mgonzs13 commented 2 years ago

Yes, again, it is interesting. In fact, I want to build a new rover. The main problem is that I'll need the hardware components.

samuk commented 2 years ago

Since that comment, I've found FEICHO waterproof servos's which are more affordable at $29.27 US and provide 40kg/cm

I appreciate it would still be a $296 upgrade, for the full Sawppy. It would be worth it to me personally for the waterproof rating.

Would it be possible to do some testing with just the servo driver and one of the servos as proof of concept? I'd be willing to fund a servo and board and get it posted to you.

samuk commented 2 years ago

Just spotted that this ROS2 code exists for that servo board: https://github.com/kerry-t-johnson/i2c_pwm

mgonzs13 commented 2 years ago

I think the Adafruit Python library is easier to use for a first approach.

samuk commented 1 year ago

I've just seen this rather nice small 6x6 with servo https://www.youtube.com/@wildwillyrobots

Two of these open hardware drivers https://wiki.seeedstudio.com/Motor_Bridge_Cape_v1.0/ stacked together could drive 4x steering servo, plus six DC drive motors.

At ~£20 each they seem fairly affordable https://uk.rs-online.com/web/p/power-motor-robotics-development-tools/1743284

This is the library for it https://github.com/Seeed-Studio/MotorBridgeCapeforBBG_BBB

mgonzs13 commented 1 year ago

Hi @samuk, thanks for the info. We are working on a new rover and we revisiting the motors focusing mainly on steppers. Do you have any specific motor in mind?

samuk commented 1 year ago

No, but this project: https://www.thingiverse.com/thing:5363032 Uses these https://www.aliexpress.com/item/1005002662047047.html

BLDC would be nice too of course! Perhaps using https://github.com/Twisted-Fields/rp2040-motor-controller drivers https://github.com/runger1101001/rp2040-motor-controller-firmware

samuk commented 7 months ago

Just to add to the I2C idea I've recently been playing with https://www.smart-prototyping.com/Zio-4-DC-Motor-Controller.html

2x of them could be used to handle the 6x power motors, with the steering done by servo.