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cartrasche_mcu

Cartrasche motors and peripherals driver with rosserial enabled

cartrasche_logo

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