Releases: PedroS235/motor_controller
Releases · PedroS235/motor_controller
v1.2.3
This release brings a simple serial protocol which can be used to communicate with the Arduino and a master computer, such as a Raspberry Pi 4.
This version is related to Episode 06 of the series, Building an Autonomous Robot From Scratch.
Changes since v1.1.3
New Features
- serial_protocol: A very simple serial protocol to control the robot using the motor_controller. Refer to the README.md for more information.
- motor_controller: A new method
move_open_loop
has been created to control motors with PWM - motor_controller: A new method
get_motor_status
has been created to get motor's data to send when requested - motor_controller: A new method
reset_pose
has been created to reset robot's pose to 0 - motor_controller: A new method
move_forward
has been created which set's the robot to move forward at 0.3 m/s - motor_controller: A new method
move_backward
has been created which set's the robot to move backwards at -0.3 m/s - motor_controller: A new method
turn_left
has been created which set's the robot to move backwards at 0.5 rad/s - motor_controller: A new method
turn_right
has been created which set's the robot to move backwards at -0.5 rad/s - motor_controller: A new method
stop
has been created which stops the robot's movement
V1.1.3
This release has a new feature that has been implemented, which is a motor controller.
Changes since v1.0.0
Bug Fixes
- motor_driver: PID output limits have been corrected to [-255,255]
- configuration: PID gains have been improved
New Features
- motor_controller: A motor controller class has been implemented capable of receiving velocity commands and compute robot pose
- configuration: new parameters have been added, such as distance between wheels.
- motor_driver: the set_velocity() method now bounds to input velocity to config parameter
- motor_driver: reset methods have been implemented to reset motor data & encoder ticks