zzangdol_core-v1

• Created: 23-05-14
• Last update: 24-0-02
• Maintainer: GeonhaPark | Seunmul [email protected]
• Contributor:
• About:
  • Zzangdol-ai-car Firmware codes for MCU (Arduino Mega).
  • Version 1.
  • Includes communication logic between MPU nodes and MCU -- car control logic for zzangdol-ai-car HW
• Dependency:
  • ROS library - https://github.com/frankjoshua/rosserial_arduino_lib
  • Servo library for motor control - https://github.com/arduino-libraries/Servo
  • TimerOne library for supporting multithread in Arduino Mega - https://github.com/PaulStoffregen/TimerOne
• Reference codes
  • https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_burger/turtlebot3_core

The above dependency codes must be included in the PATH of your Arduino library package.

• Linux : /home/$USER/Arduino/libraries
  Arduino
  └── libraries
  ├── MPU9250
  ├── ros_lib
  ├── Servo
  └── TimerOne

01. Build

Environment

vscode with Arduino Extension : https://marketplace.visualstudio.com/items?itemName=vsciot-vscode.vscode-arduino (ver : 0.6.0)

How to Build

0. Install the extension and move to the Target directory.
1. Execute with Ctrl+P, Search Arduino, and click the following menu.
2. Arduino: Select Serial Port -> Select Port.
3. Arduino: Board Config -> Select Arudino Mega or your MCU.
4. Arduino: Upload -> .elf files will be created in the "build" directories. Execution files will be automatically uploaded to MCU

02. Start

zzangdol_core

• Firmware codes with C++, Arduino Platform
• Platform: Arduino Mega 2560
• Once the Build is Finished, You can execute ROS nodes in the MCU with the below codes

Standard-alone

rosrun rosserial_python serial_node.py __name:=zzangdol_core _port:= /dev/ttyUSB0 _baud:=115200

Roslaunch

# requires zzangdol_bringup launch files & dependecies : https://github.com/zzangdol-2023/zzangdol_bringup
roslaunch zzangdol_bringup zzangdol_core.launch usb_config:=true

03. Directories

zzangdol_core

• zzangdol-ai-car Firmware codes for MCU(Arduino Mega)

drive_mov_avg

• Pure firmware codes with moving-avg-filter, which calculates extern-RC-controller's input

examples

• Backup and example codes for Arduino Mega and ROS platform