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sdcityrobotics / Scarborough_ROS

This is the Scarborough software in the ROS environment
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i2c communication needs to be improved for arduino. #1

Closed Ximidar closed 8 years ago

Ximidar commented 8 years ago

Currently i2c and arduino communication is one way. We can improve the robot if communication went both ways.

Ximidar commented 8 years ago

Arduino can now have multiple variables be accessed by writing to the arduino registry. I2C Works now!!! To see the changes refer to scarborough/src/Arduino_Communications/Arduino_i2c.cpp as well as the arduino code to see how they interact with each other.

Basically there are a few registers the Jetson can write to. Some are for reading and some are for writing. To start the Jetson will write to registers 0 - 5 to write the IMU data to the arduino. Then the jeston will read from register 51 - 56 to obtain the motor data. I would have just had one register be read from, but the arduino does not send messages over 30 characters over I2C. So I split the individual motor values up into different registers.

In the near future I will expand this code to include things like "Desired Yaw, pitch, and roll" and the fire register for the torpedoes.

Bob-Pruitt commented 8 years ago

Dear Matt, We have now been given the OK to purchase 2 cameras (even if they are over $200.00). Please email me the model number and company email address so I can get a current dated quote. We have also received the 2 acrylic tubes from McMaster Carr to use for sub hulls. Bob

From: Matt Pedler [mailto:notifications@github.com] Sent: Tuesday, March 08, 2016 8:59 PM To: sdcityrobotics/Scarborough_ROS Subject: Re: [Scarborough_ROS] i2c communication needs to be improved for arduino. (#1)

Closed #1https://github.com/sdcityrobotics/Scarborough_ROS/issues/1.

— Reply to this email directly or view it on GitHubhttps://github.com/sdcityrobotics/Scarborough_ROS/issues/1#event-582774245.