44 lines
1.9 KiB
Markdown
44 lines
1.9 KiB
Markdown
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# Hints
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Connect Hoverboard PCB (USART3, GND, TX, RX, no VCC!!) to USB-TTL converter (or UART interface of your SBC).
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Set the serial port according to your setup in hoverboard_driver.ros2_control.xacro file
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# Launch
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```
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ros2 launch hoverboard_driver diffbot.launch.py
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```
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# Classes
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The entire package consists of three main classes:
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1. hoverboard_driver_node
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2. hoverboard_driver
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3. pid
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whereas the first two are implemented in the same file named hoverboard_driver.cpp (blame on me)
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## hoverboard_driver
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This is the main class and implements the hardare interface for diff_drove_controller itself. This class is responsible for read/write to hardware.
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## hoverboard_driver_node
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This class is a member/attribute of hoverboard_driver class and acts as a helper class. As hoverboard_driver itselfs derives from hardware_interface::SystemInterface class, hoverboard_driver class is not able to define publishers or settable parameters. To overcome this, hoverboard_driver_node has been introduced. This class derives from rclcpp::Node and can therefore publish topics and also can define reconfigurable parameters.
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This class publishes state of Hoverboard PCB like velocity, pose, command, voltage, temperature, battery level,current consumption of each motor and the state of serial interface(connected, not connected).
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Also this class provides dynamic parameters for PID controller
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## pid
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The PID class is defined as /attribute of overboard_Driver class (array, of PIDs, one per wheel).
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It works in general but it's not active now as I idn't find proper PID settings so far.
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To activate, change this code section in hoverboard_driver.cpp
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``` // Convert PID outputs in RAD/S to RPM
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//double set_speed[2] = {
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// pid_outputs[0] / 0.10472,
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// pid_outputs[1] / 0.10472};
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double set_speed[2] = {
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hw_commands_[left_wheel] / 0.10472,
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hw_commands_[right_wheel] / 0.10472
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};
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```
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