cartrasche_mcu

Cartrasche motors and peripherals driver with rosserial enabled

Hardware Controller Components

• ARDUINO | Arduino MEGA(ATmega2560)
• MDROBOT | MD200T BLDC Driver
• TOSHIBA | TB6560 Stepper Driver
• ADAFRUIT | PCA9685 12-channel PWM Driver
• ADAFRUIT | NEOPIXEL 12 LED_RING

Remote Emergency Stop

• LOLIN | ESP32 D32 PRO

ROSSERIAL-ATMEGA

ARDUINO MEGA

• Subscribe : /cmd_vel [geometry_msgs::Twist] -> linear.x, angular.z
• Subscribe : /switch_tray [std_msgs::Int32] -> 1 or 2
• Publish : /rosduino [std_msgs::String] -> callback msg for received topic
• Publish : /heartbeat [std_msgs::String] -> heartbeat