Releases: kaiaai/firmware
Releases · kaiaai/firmware
Maker's Pet Mini
- Maker's Pet Mini works
- tested with YDLIDAR SCL, LDROBOT LD14P
- more accurate motor PPRs
Brushed motor support
- motor driver
- brushed motor support: drivers TB6612FNG, LM298N, DRV8871 and others with same IN1, IN2 control input logic
- N20 motors supported
- quadrature encoders
- reverse motor direction, reverse motor encoder - for wiring convenience
- web configuration
- additional options including PID, motor drive type, motor encoder type
- LiDAR scan frequency option
- automatically loads values from previous configuration
- ROS properties
- motors: get max RPM, derated max RPM, target RPM, current RPM
- motor encoders: get current value, get/set PPR (pulses per revolution), get TPR (ticks per revolution)
- motor PID: get/set Kp, Ki, Kd, update period, PID mode on-error vs. on-measurement
- robot base: get model name, base diameter, tire diameter, wheel base
- LiDAR: get current scan rate, LiDAR model,
- code refactored into separate files for readability
- motor controller code moved into its own library
- added support for YDLIDAR SCL
- set micro-ROS client key using ESP32 MAC for smoother micro-ROS reconnect
- refactored code into separate files
- added MAKERSPET_MINI robot to web config
Camsense X1 LiDAR
- added Delta-2A 230400 baud LiDAR version (vs old 115200 baud)
- TODO debug fixed pattern noise
- added Delta-2B LiDAR
- TODO debug fixed pattern noise
- added motor voltage to configuration
- added Camsense X1 LiDAR
Dependencies included; KaiaaiTelemetry2
- moved from KaiaaiTelemetry to KaiaaiTelemetry2 message
- added battery voltage telemetry
- added WiFi RSSI telemetry
- added LDROBOT LD14P laser distance scan sensor
- included all library dependencies in library/ to make the code self-contained
- do not use Arduino IDE Library manager
- instead, just copy everything to your Arduino sketch folder
- included the ESP32 sketch data upload tool in tools/
Delta-2A, -2G
- added 3irobotix Delta-2A, Delta-2G
- library version dependencies
- LDS v0.5.0
- ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
- micro_ros_kaia v2.0.7-rolling.3
- PID_Timed v1.1.2
- requires Kaia.ai ROS2 image
kaiaai/kaiaai-ros-dev:humble-02-11-2024
orkaiaai/kaiaai-ros-dev:iron-02-11-2024
Added LiDAR/LDS sensors
- added LiDAR/LDS laser distance scan sensors support
- YDLIDAR X3, X3-PRO
- Neato XV11
- RPLIDAR A1
- library version dependencies
- LDS v0.4.0
- ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
- micro_ros_kaia v2.0.7-rolling.3
- PID_Timed v1.1.2
- requires Kaia.ai ROS2 image
kaiaai/kaiaai-ros-dev:humble-02-05-2024
orkaiaai/kaiaai-ros-dev:iron-02-05-2024
YDLIDAR X4, LDS02RR, YDLIDAR X2 support
- kaiaai-esp32 Arduino ESP32 firmware
- supports YDLIDAR X4, LDS02RR, YDLIDAR X2/X2L
- requires libraries LDS v0.3.1, PID_Timed v1.1.2, micro_ros_kaia 2.0.7-rolling.3, ESPAsyncWebSrv v1.2.7
- robot model configuration via web browser