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Differential Drive Robot PWM Control via ROS

This ROS package allows control of a differential drive robot's PWM and direction via joystick inputs. It sends a direction and PWM array to a microcontroller via I2C.

Files

joystick.py

This file contains a class that subscribes to ROS Joy node and maps the joystick data to direction and PWM for the motors.

main.py

This file publishes PWM and direction through a custom message type topic.

rover_i2c.py

This file writes the array to the Arduino via I2C.

Installation and Usage

  1. Install ROS and Joy package.
  2. Clone this repository into the src directory of your ROS workspace.
  3. Run catkin_make to build the package.
  4. Connect the microcontroller via I2C.
  5. Launch the node by running rosrun <package_name> main.py.
  6. Use the joystick to control the robot's movement.

Glimpse

The small BOT

Credits

This package was created by Devanshu Sharma for personal Project