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Differential_robot

Schematic

Electrical Schematic

!Important - Read WHY.md - Electrical Schematic Error Design

Steps:

  1. Install Raspberry Pi OS (32-bit) Lite.
    For the official Raspberry Pi OS, if you need to manually log in, the default user name is pi, with password raspberry.
    Remember to create a empty file with the name 'ssh' in the boot partition

  2. Install Preempt-RT Patch for any Raspberry Pi.
    Tutorial - Raspberry Pi 4B: Real-Time System using Preempt-RT (kernel 4.19.y)

  3. Install pigpio library
    Pigpio Library
    HOWTO install library

  4. Encoder and Motor Library

  5. Periodic control task for position and velocity control of the wheel
    PID Digital controller implementation example
    Design position and velocity controller

  6. Reorganize the code and structure of the project

DOIT:

  • Machine state to read quadrature encoder X4
  • Motor Driver DRV8838
  • Periodic cyclic task -> HOWTO build a basic cyclic application
  • Transfer function of first order (angular velocity) with Matlab with system identification toolbox
  • Step 5: Design position and velocity controller.

TODO:

  • Use PID controller for velocity control with ROS.

LINKS:

WHY USE ...?

TOOLS used:

  • Draw.io for creating diagram like electrical schematic.
  • MATLAB