evapi_ros: evarobot_battery | evarobot_bumper | evarobot_controller | evarobot_driver | evarobot_eio | evarobot_infrared | evarobot_minimu9 | evarobot_odometry | evarobot_orientation | evarobot_sonar | evarobot_start | evarobot_teleop

Package Summary

evarobot_driver drives the motors on Evarobot with PWM(Pulse Width Modulation) technique.

Nodes

evarobot_driver

evarobot_driver takes velocities and drives left and right motors on the Evarobot using PWM(Pulse Width Modulation).

Subscribed Topics

cntr_wheel_vel (geometry_msgs/Twist)
  • Linear and angular velocities which are applied to the Evarobot.

Parameters

~commandTopic (string, default: cntr_wheel_vel)

  • Topic name which is read.
~maxLinearVel (double, default: 1.0)
  • Maximum linear velocity of the Evarobot.
~maxAngularVel (double, default: 3.0)
  • Maximum angular velocity of the Evarobot.
~wheelSeparation (double, default: 0.32)
  • Distance between two wheels in meter.
~wheelDiameter (double, default: 0.17)
  • Wheel diameter in meter.
~pwmFrequency (double, default: 1000.0)
  • PWM frequency.
~pwmDuty (int, default: 90)
  • Max. duty cycle.
~pwmCounts (int, default: 256)
  • Number of pwm count.
~pwmMode (int, default: 2)
  • 1: PWMMode (||||||.....), 2: MSMode (|.|.|.|.|.|).
~M1_IN1 (int, default: 1)
  • Pin number of M1_IN1.
~M1_IN2 (int, default: 12)
  • Pin number of M1_IN2.
~M1_EN (int, default: 5)
  • Pin number of M1_EN.
~M2_IN1 (int, default: 0)
  • Pin number of M2_IN1.
~M2_IN2 (int, default: 19)
  • Pin number of M2_IN2.
~M2_EN (int, default: 6)
  • Pin number of M2_EN.

Wiki: evarobot_driver (last edited 2017-11-06 12:22:34 by DidemOzupekTas)