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OTHER CHAPTERS

slam, navigation and others, must be adsorbed by new chapters, or some chapters are overlapping.

we an skip the intro, and remove simulations. and just focus on basic robotics concepts in ros. start the other ros2rpi doc asap, it will take little time

TODO

• ros2rpi config explanation, is it 0x33 for default
• couple of rosparam commands
• led blink documentation - red
• sysctl commands
• rosrider_smbus
• connecting servos
• connecting rosrider with qwic
• Explanation of parameter 0x33 in rosrider, 0x0 to cancel.

Troubleshooting

[TODO: explain output and status and also that fault_left and fault_right are not problem]

Status Registers

PWR_STATUS

b7 CMD_TIMEOUT
b6 POWER_BAD
b5 RIGHT_AMP
b4 LEFT_AMP
b3 MAIN_FUSE
b2 OVER_VOLTAGE
b1 UNDER_VOLTAGE
b0 AUX_PWR

MTR_STATUS

b7 FAULT_RIGHT
b6 FAULT_LEFT
b5 RIGHT_REV (0=REV, 1=FWD)
b4 LEFT_REV
b3 MODE_2
b2 MODE_1
b1 DRIVE_MODE_MSB
b0 DRIVE_MODE_LSB

MODE_BRAKE = 00
MODE_PWM = 01
MODE_VEL = 10
MODE_PID = 11

SYS_STATUS

b7 EPROM_INIT_OK=0
b6 RESTART_REQUIRED=1
b0 EEPROM_WRITE_WRITE_OK=0

Return to the introduction: Introduction

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