A differential drive controller with visual encoders that receives commands via serial interface.
Can be controlled from a host device application such as this ROS controller.
The PID control is encapsulated in this Arduino library.
<type> <verb> [<verb>] [<timestamp>] [<value>]
| Message Type | Purpose | Verbs | Purpose | Verbs | Purpose | Syntax |
|---|---|---|---|---|---|---|
| set | Write values to target | vel | assign set point velocity | set vel < timestamp > < vl > < vr > | ||
| dty | assign set point duty cycle | set dty < timestamp > < dl > < dr > | ||||
| cfg | assign configuration parameter | kp(l|r) | control constant p (left | right) | set cfg kp < value > | ||
| ki(l|r) | control constant i (left | right) | set cfg ki < value > | ||||
| kd(l|r) | control constant d (left | right) | set cfg kd < value > | ||||
| t | command execution time in seconds | set cfg t < value > | ||||
| query | Query values from target | vap | read position and velocity | query vap | ||
| pos | read position | query pos | ||||
| pid | read pid parameters | query cfg | ||||
| state | Send values from target | vap | Reply to query vap | state vap < timestamp > < pl > < vl > < pr > < vr > | ||
| pos | Reply to query pos | state pos < timestamp > < pl > < pr > | ||||
| pid | Reply to query pid | state pid < timestamp> < pl > < il > < dl > < pr > < ir > < dr > | ||||
| info | General human readable message | info < timestamp > < message > |
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