andino_firmware
The andino_firmware package
README
andino_firmware
Firmware code to be run in the arduino microcontroller for proper control of the motors of the robot.
Connection
Check encoder_driver.h
and motor_driver.h
files to check the expected pins for the connection.
Installation
Arduino
In Arduino IDE, go to tools->Manage Libraries ...
and install:
“Adafruit BNO055”
Verify and Upload andino_firmware.ino
to your arduino board.
PlatformIO
Install dependencies
sudo apt-get install python3.10-venv
Install platformio
curl -fsSL -o /tmp/get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
python3 /tmp/get-platformio.py
Add platformio to your $PATH:
echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
source $HOME/.bashrc
Build and upload the firmware
If you’re using an arduino uno
pio run --target upload -e uno
If you’re using an arduino nano
pio run --target upload -e nanoatmega328
Description
Via serial
connection (57600 baud) it is possible to interact with the microcontroller. The interface is described in the commands.h file. Here are the most used commands:
Get encoder values:
'e'
Set open-loop speed for the motors[pwm]
'o <left> <right>'
Example to move forward full speed:
'o 255 255'
Range
[-255 -> 255]
Set closed-loop speed for the motors[ticks/sec]
'm <left> <right>'
Important!: See the
Test it!
section.
Set PID values:
'u <kp> <kd> <ki> <offset>'
Note: Remember the carriage return character at the end of the message.
Test it!
A serial port connection must be created at 57600 bauds. You can use the serial monitor from Arduino IDE for example.
Open loop verification:
Send
o 255 255
to go full speedSend
o 0 0
to stop it.
Read the encoders
Send
e
to get the encoders values.
Get the ticks per revolution of your motor.
First set the encoders to zero, (reeboting with
r
).Then rotate your motors as many revs you want,(say 10 for example) and then divide the encoder ticks per the number of revs. -> Then you get the ticks per revolution. Save this value, it is calibration for the control loop.
Closed loop verification
Send
m <tps> <tps>
wheretps
stands forticks per second
. For example if your motor-encoder system gets 700 ticks per revolution then sendingm 700 700
will rotate both motors at 1 rev per sec. (~3.14rad/sec)