encoders_interface

ROS Node to interact with encoders

Initialize ROS2 package

1. Create ros2 C++ package

   ros2 pkg create --build-type ament_cmake --node-name encoders_interface encoders_interface

2. Build package

   colcon build --packages-select encoders_interface

3. Source the setup file

   . install/setup.bash

4. Use the package

   ros2 run encoders_interface encoders_interface

5. Customize package.xml

I2C

it needs wiringPi installed in /usr/local/lib

1. git clone https://github.com/WiringPi/WiringPi
2. cd WiringPi
3. sudo ./build

Hardware

This package interact with an ESP32 board installed on the Maile Vehicle. The communication is made on I2C where the board has been setup as a SLAVE with ID:0x09. After each request the boards response with 10 bytes, 5x uint16_t values representing the 5 "delta tic" of each encoder from the last call. the encoders order is:

1. spur gear motor encoder (high gear ratio = 1:5.22, low gear ratio = 1:14.45)
2. front right wheel encoder
3. rear right wheel encoder
4. rear left wheel encoder
5. front left wheel encoder

NOTES

• wheel radious = 0.559 meter
• tick for wheel / round = 12
• tick at spur gear / round = 15

Copyright and License

This software contains code licensed as described in LICENSE.