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Brushed motor support

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@kaiaai kaiaai released this 02 Sep 05:25
· 34 commits to iron since this release
v0.5.0
3a37051
  • 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
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