Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

/cmd_vel and arduino diff control

asked 2015-09-14 08:15:40 -0600

osmancns
153 ●31 ●34 ●43

updated 2015-09-14 08:17:47 -0600

I have arduino mega and vnh5019 driver. I know these libraries :

https://github.com/hbrobotics/ros_ard... https://github.com/hbrobotics/ros_ard...

But this libraries control motors with PID algorithm (in arduino code). However, my motors havent got encoders so ı cant drive correct with PID. I need to control my motors without PID. so ı cannot use this libraries. How can ı use this libraries just control with /cmd_vel. or how can I close PID algorithm ??

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-09-15 10:07:44 -0600

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

controlling a motor using a PID-controller has nothing to do with encoders.

However, if you want to control the speed of a motor with whatever-controller, you need to know how fast it actually is. What do you have instead of encoders? resolvers? Anyways, you have to write your own driver for this.

You could obviously adapt the respective libraries to your use-case. Or write your own driver. What ever suits you best.

edit flag offensive delete link

Comments

can you show me some respective libraries ?

osmancns ( 2015-09-16 01:36:28 -0600 )edit

I was refering to the one you linked. But again, as I have neither the information nor the knowledge about the hardware you have, I cannot say more...

mgruhler ( 2015-09-16 07:19:29 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2015-09-14 08:15:40 -0600

Seen: 532 times

Last updated: Sep 15 '15

/cmd_vel and arduino diff control edit

1 Answer

Comments

Question Tools

Stats

Related questions

/cmd_vel and arduino diff control