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ROS Robot Expansion Board📖
1.Expansion board STM32 driver
  • 0. Precautions
  • 1.1 Expansion Board Introduction_V3.0
  • 1.1 Expansion Board Introduction_V1.0
  • 1.2 STM32 Development environment
  • 1.3 Button to control the buzzer to whistle
  • 1.4 FreeRTOS application
  • 1.5 Serial communication
  • 1.6 SBUS model aircraft remote control
  • 1.7 CAN bus communication
  • 1.8 RGB colorful light bar
  • 1.9 Timer interrupt to control PWM servo
  • 1.10 Control serial port servos
  • 1.11 Nine-axis attitude sensor to obtain data
  • 1.12 Control the forward and reverse rotation of the motor
  • 1.13 The timer captures the encoder data
  • 1.14.1 Robot kinematics analysis theory
  • 1.14.2 Mecanum wheel kinematics analysis
  • 1.15 PID control robot movement
  • 1.16 OLED character display
2.Python basic control
  • 2.0 Bind PCB port devices
  • 2.1 Update the firmware of the expansion board
  • 2.2 Turn off the self-starting large program at startup
  • 2.3 Install the Rosmaster driver library
  • 2.4 Buzzer whistle
  • 2.5 Control PWM servo
  • 2.6 RGB colorful light bar special effects display
  • 2.7 Control the forward and reverse rotation of the motor
  • 2.8 Control the movement of the robot
  • 2.9 Control Serial Servo
3.ROS1 Basic Course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
4.ROS1 robot control
  • 0. Bind PCB port devices
  • 1. Package Use the tutorial
  • 2. Package Description
  • 3. Robot keyboard control
  • 4. Robot state estimation
  • 5. Robot imu calibration
  • 6. Robot URDF Model
5.ROS2 Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
6.ROS2 robot control
  • 0. Bind PCB port devices
  • 1. Package Use the tutorial
  • 2. Robot information release
  • 3. Robot keyboard control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
7.RDK X3 course
  • 1. Update the firmware of the expansion board
  • 2. Turn off the self-starting large program at startup
  • 3. Install the Rosmaster driver library
  • 4. Buzzer whistle
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects
  • 7. Control motor forward reverse
  • 8. Control robot movement
  • 9. Control Serial Servo
Download
  • Rules_File
  • Hardware Info
  • Code
  • 3D Model File
  • RDK Code
  • ROS2_Basic_VM
Download ZIP

Welcome to ROS Robot Expansion Board repository

1.15 PID control robot movement

15. PID control robot movement

15. PID control robot movement 15.1. Experimental purpose 15.2. configuration pin information 15.3. Analysis of the experimental flow chart 15.4. core code explanation 15.5. hardware connection 15.6. Experimental effect

15.1. Experimental purpose

Control the movement of the robot, and control the running speed of the robot through the PID algorithm.

Since different models require different drive codes, here we only take the Mecanum wheel trolley as an example.

15.2. configuration pin information

  1. Import the ioc file from the Encoder project and name it Car_Motion.

No additional content is required, and the final chip configuration pins are shown in the following figure:

image-20220311171929134

15.3. Analysis of the experimental flow chart

image-20220519113617358

15.4. core code explanation

  1. Create new bsp_pid.h and bsp_pid.c, and add the following content to bsp_pid.h:

image-20220311182153477

  1. Create the following content in the bsp_pid.c file:

Initialize PID parameters:

image-20220311182232217

  1. Calculation formula of incremental PID.

image-20220311182312127

  1. Set the target value.

image-20220311182400564

  1. Calculate the PWM output value through PID calculation.

image-20220311182458461

  1. Clear the PID parameter data.

image-20220311182542931

  1. Create new bsp_motion.h and bsp_motion.c files.

image-20220311183152424

  1. Get and calculate the speed of the trolley from the encoder.

image-20220325115058394

  1. Re-update the PWM data of the motor according to the speed value, so as to achieve the effect of speed regulation.

image-20220325115219282

15.5. hardware connection

The motor connecting line needs to be connected to the corresponding motor as shown in the figure below, otherwise it may cause the problem that the program does not match the phenomenon. Motor 1 corresponds to the motor in the upper left corner of the body, Motor 2 corresponds to the motor in the lower left corner, Motor 3 corresponds to the motor in the upper right corner, and Motor 4 corresponds to the motor in the lower right corner.

image-20220311143208773

Since the power of the motor is relatively large, the expansion board should not be powered by USB 5V directly, but must be powered by DC 12V.

15.6. Experimental effect

Since the motor will turn when started, please stand up the trolley before the experiment, and the motor wheels are suspended in the air to avoid rampage.

After the program is programmed, the LED light flashes every 200 milliseconds. Press the button KEY1 once, the car moves forward, and press the KEY1 button again to stop the car.

Mecanum wheel kinematics analysis
OLED character display

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