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Can you help me with my rover vehicle?

asked 2021-08-02 03:55:57 -0500

awaxen gravatar image

I want to build a rover. But I don't know which packages and which topics I should use in Ros. About my vehicle

-Arduino atmega 2560

-Raspberry pi 4 8GB

RepRamps shield mounted on Arduino

- RepRamps 1.4

Scara model robot arm and inverse kinematics equation in robot arm part

- A4988 engine driver

- Nema 17 stepper motor

- Endstop

DC motors mounted on the wheels of the vehicle

-L298N motor driver

- DC motor

Camera IntelD435 depth camera mounted on the robot arm of the vehicle

-- Intel D435 depth camera

Lidar 360 for mapping

-- RPLIDAR A1M8 - 360

I'm using OpenCV and Tensorflow for the image processing event from the camera. I am using Python and C++. My aim is to move the nema motors with my inverse kinematics function according to the x.y values ​​coming from the camera.

Moving my dc motors by mapping with my lidar sensor

but there is a point I can't do, I couldn't understand how to write both my nema and dc motor codes in my single arduino atmega card. 1-Which packages do I need to use threads and messages? \n 2-How do I write nema and dc motor codes in a single arduino?

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answered 2021-08-02 13:03:31 -0500

Ktysai gravatar image

Probably a good start is to mimic something already done. Break your project in several chunks.

Look at this project: https://github.com/RBinsonB/Nox_robot

In your specific case I use another arduino for dc motors if it's possible (an Leodardo eventually)

The communication between arduino & Rpi that runs with ROS I'll suggest rosserial.

Good luck!

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Thank you very much for the information you provide. Do you know of any project where robot arm (nema17 stepper motor) and DC motors are used together?

awaxen gravatar image awaxen  ( 2021-08-03 00:13:00 -0500 )edit

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Asked: 2021-08-02 03:16:28 -0500

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Last updated: Aug 02 '21