Robot Microcontroller

Sensor and servo control unit

Managing and processing Ultrasonc signals

• add library
• create servo class

Servo contoller

• add library
• create servo class

Stepper motor contoller

• add library
• create class

Parsing and processing messages with ROS

Publisher / Subcriber agent

Requirements

• 8 ultrasonic sensors
• 5 servos for locking cups
• 2 servos for locking base
• 1 servo for pushing arm activating lighthouse and windsocks
• 1 servo for hoisting the flag
• 2 stepper motors for moving ganter up and down

Microcontrollers available

• Arduino mega
• Arduino nano
• Teensy 4.0
• direct pinout to Odroid

Possible communication routes

• SERIAL
• I2C
• UART
• std.messages