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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:

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
  1. Clone the Pico-SDK repo
git clone --recursive https://github.com/raspberrypi/pico-sdk.git
  1. Set the PICO_SDK_PATH environment variable
export PICO_SDK_PATH=/directory/to/your/sdk

Windows:

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.