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/cmd_vel and arduino diff control

asked 2015-09-14 08:15:40 -0500

osmancns
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updated 2015-09-14 08:17:47 -0500

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 ??

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answered 2015-09-15 10:07:44 -0500

mgruhler

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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.

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can you show me some respective libraries ?

osmancns ( 2015-09-16 01:36:28 -0500 )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 -0500 )edit

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Asked: 2015-09-14 08:15:40 -0500

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Last updated: Sep 15 '15

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/cmd_vel and arduino diff control