Motor Control Learning Material
Can anyone recommend a learning resource on motor control (using ROS) for a mobile robot? I am creating a ROS package for my mobile robot that should take in geometry_msgs/Twist messages and output commands to BLDC motors.
I have a rough draft motor control package that works, but not well. It is in python - I think c++ would have been a better choice. Also, although the motors provide encoder data, I do not have any kind of control loop implemented. The motor drivers themselves have a control loop for the speeds that are sent to each separate motor, but there is no high level control loop for actual robot motion. I am considering adding and IMU.
Anyway, I have been winging it and have quite a few questions floating around in my head for implementation, and some guidance resources would be greatly appreciated!
