Rover Drive Pico

This is the embedded firmware for Cengaver Rover's drive system using Raspberry Pi Pico.

Features

• Control of all motors invidiually.
• Getting feedback at a specified rate about the dutycycle of the motor driver and RPM measured through the encoder.
• If a current sensor is added, ability to get feedback about motor current consumption.
• Through use of ROS parameters, various settings can be changed during runtime such as:
  1. Ability to set maximum dutycycle for the motors through "max_motor_dutycyle" param.
  2. Ability to set the motor's maximum RPM through "max_motor_rpm" parameters.
  3. Ability to turn PID control OFF and ON through "motor_pid_mode" parameters.
  4. Ability to tune PID control using "motor_pid_kp", "motor_pid_ki" and "motor_pid_kd" parameters.
  5. Ability to change the rate of motor feedback to the ROS2 computer through "motor_feedback_period_ms" parameter.
  6. Ability to change the PID loop period through "motor_pid_loop_period_ms" parameter.
  7. Ability to set timeout duration to turn motors off when ROS2 communication stops through "motor_timeout_ms" parameter.
  8. Ability to set the maximum motor current that will turn off the motors automatically through "motor_max_current" parameter.

To build the firmware.

To build the firmware for Raspberry Pi Pico project, follow these steps:

Setup Pico-SDK

Recommended:

• Install the Raspberry Pi Pico Visual Studio Code extension in VS Code.

Linux:

1. Install CMake (at least version 3.13), and a GCC cross compiler

sudo apt install cmake gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib

2. Clone the Pico-SDK repo

git clone --recursive https://github.com/raspberrypi/pico-sdk.git 

3. Set the PICO_SDK_PATH environment variable

export PICO_SDK_PATH=/directory/to/your/sdk

Windows:

• Follow the steps in Raspberry Pi Pico Windows installer.

To Build Project

1. Clone the repository with submodules: git clone --recursive https://github.com/your-username/rover-drive-pico.git
2. Setup a CMake build directory. For example, if not using an IDE:

   $ mkdir build
   $ cd build
   $ cmake -DCMAKE_BUILD_TYPE=Release ..
   $ cmake --build .
   

Contributing

Contributions from Cengaver Rover team members are allowed.

License

This project is licensed under the Apache 2.0 License. See the LICENSE file for more information.