Gigatron Motor Control Debugging Arduino Code

ROS Debugging

Arduino Sketch Components

gigabug.ino

The main Arduino sketch file.

• ROS publishers and subscribers are set up here
• callbacks for ROS messages are defined here
• the setup() function creates an instance of the Context class, which is where the loop that you would expect in loop() happens

context.h and context.cpp

This is where everything comes together and all the magic happens.

commander.h and commander.cpp

Class definitions for the Commander class and its subclasses:

• RCCommander for remote control mode
• JetsonCommander for autonomous and semiautomatic mode

isr.h and isr.cpp

Interrupts!

classes.h

Header for the PID controller and three of the smaller classes dealing with hardware.

pidcontroller.cpp

Proportional, integral, and derivative controller. Used for steering and drive motors.

dcservo.cpp

The DCServo class for the steering servo and associated potentiometer.

rcdecoder.cpp

RCDecoder class that translates signal from the remote control receiver into velocity and steering angle.

speedsensor.cpp

SpeedSensor class for calculating speed based on Hall Effect sensors.

Installation Instructions

sudo apt-get install arduino arduino-core           # install Arduino IDE
sudo apt-get install ros-indigo-rosserial-arduino   # install rosserial_arduino ROS package

Clone this repository into your Arduino sketchbook folder:

cd <ARDUINO_SHETCHBOOK>
git clone https://github.com/5yler/gigabug.git

Install the digitalWriteFast library

Download the digitalWriteFast library file (direct .zip file link) and put it in the <ARDUINO_SHETCHBOOK>/libraries folder

Generate Custom ROS Message Libraries For Arduino

Make sure you have the metatron repository cloned into a catkin workspace. For example:

mkdir -p ~/giga_ws/src/
cd ~/giga_ws/src/
catkin_init_workspace
git clone https://github.com/5yler/metatron.git
cd ~/giga_ws
catkin_make
source devel/setup.bash

Optionally add source ~/giga_ws/devel/setup.bash to your ~/.bashrc for convenience.

rosrun rosserial_arduino make_libraries.py <ARDUINO_SKETCHBOOK>/libraries

Your code should now compile!