drivetrain_firmware

Firmware for the OB1 bot drivetrain (for the ESP32 wrover-kit).

Uses PlatformIO and arduino framework. Depends on rosserial package for arduino.

What's the firmware for?

• Receive commands and send sensor data to and from ros master
• Drive the two motors of the drivetrain
• Gather encode measurements
• tbd

Uses rosserial to establish ESP32 as a ros node over UART. The ros master will send a ROS geometry_msgs/Twist message.

The platformIO project is setup for the ESP32 WROVER. We should be able to compile and upload code directly over microUSB.

Please follow the setup instructions and always push code to your own branches, NOT the main branch.

Drivetrain Kinematics and Control

https://en.wikipedia.org/wiki/Differential_wheeled_robot

Measurements taken from CAD assembly of drivetrain for now.

Setup Instructions

1. Install System Dependencies

You will need:

• git
• VSCode
• PlatformIO extension for VSCODE

2. Clone

Run:

git clone <repo link>

3. Create a branch

git branch -b 'new branch name'

4. Directory Structure (where to put your files)

drivetrain_firmware/
├── include
├── lib
├── src
└── test

include : where we will store our header (.h or .hpp files here!)

src: where we will store our .c and .cpp here!

Compiling and Uploading Code

pending...