Motor dutycycle numbering

[chokings]

Hi!

I completed the code to get the pwm of each wheel using the code suggested in the link below.

pwm_msg1.data = 1-RosbotDrive::getInstance().getSpeed((RosbotMotNum)0, SpeedMode::DUTY_CYCLE);
pwm_msg2.data = 1-RosbotDrive::getInstance().getSpeed((RosbotMotNum)1, SpeedMode::DUTY_CYCLE);
pwm_msg3.data = 1-RosbotDrive::getInstance().getSpeed((RosbotMotNum)2, SpeedMode::DUTY_CYCLE);
pwm_msg4.data = 1-RosbotDrive::getInstance().getSpeed((RosbotMotNum)3, SpeedMode::DUTY_CYCLE);

I want to make _pwm a rostopic

Hi! I am a student studying ros using rosbot 2.0. I want to make _pwm rostopic to check the control input of the motor. Looking at the firmware code, I checked that the function getDutyCycle in the motor driver (DRV8848.h and DRV8848.cpp) can read the PWM as _pwm.read(). Should I add getDutyCycle to main.cpp in firmware? Or should I write the code by adding a new node to the rosbot_ekf package? I would really appreciate it if you could give me a starting point and some details. Thanks …

There is one thing I want to check.

The index of the motor is from 0 to 3.

Please check which index represents which wheel.

0 : Front Left
1 : Front Right
2 : Rear Left
3 : Rear Right

Is this index correct?

Thank you!

[chokings]

Today, I check the index.

I Think 0 : Front Right 1 : Rear Right 2 : Rear Left and 3 : Front Left are correct.

How do you think?

[Krzysztof_Woj]

Hi chokings

According to rosbot-stm32-firmware/src/rosbot_kinematics.h motors are in following order:

#define MOTOR_FR MOTOR1
#define MOTOR_FL MOTOR4
#define MOTOR_RR MOTOR2
#define MOTOR_RL MOTOR3

Best regards,
Krzysztof Wojciechowski.