<> <> == Overview == This package contains the source code for firmware that handles communication with the ArbotiX-ROS bindings. It can be compiled and uploaded to the ArbotiX using the Arduino IDE. == Compiling and Uploading Firmware == To compile and upload the firmware you will need to: * Install the Arduino IDE, following the directions on the [[http://arduino.cc/en/Guide/HomePage|Arduino website]]. * Install the ArbotiX extensions, following directions found on the [[http://code.google.com/p/arbotix/wiki/GettingSetup|ArbotiX wiki]]. * Install the [[http://code.google.com/p/robocontroller/|RoboController libraries]]. You can then copy the files found in the ''src'' folder of this package into your sketchbook. You should then be able to open the ''ros'' sketch, compile and upload. == Build Configurations == There are several build macros that select the configuration of your firmware: * '''USE_PML''' - builds support for the Planar Meta-Laser (PML). * '''USE_BASE''' - builds support for control of a differential drive base. * '''USE_BIG_MOTORS''' - uses the BigMotors library, which allows upgrading the 1A motor drivers found on the ArbotiX to a 30A motor driver available from Pololu. (Details soon). * '''USE_HW_SERVOS''' - uses the ''HServo'' library rather than the newer ''Servo'' library for hobby servo support. This limits the ArbotiX to only 2 hobby servos, however it provides immunity against servo jitter under heavy processor load (and is therefore recommended). == Road Map == Future releases of this package will include pre-compiled binaries that can be uploaded using just avrdude. ## AUTOGENERATED DON'T DELETE ## CategoryPackage