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Added some comments to MegaRobogaiaPololu sketch

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Patrick Goebel 2012-12-15 11:00:40 -08:00
parent 9befd256ed
commit 3b2742b444
3 changed files with 8 additions and 5 deletions
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4
README.md
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@ -182,7 +182,7 @@ The *sensorstate\_rate* determines how often to publish an aggregated
list of all sensor readings. Each sensor also publishes on its own list of all sensor readings. Each sensor also publishes on its own
topic and rate. topic and rate.
The base\_controller\_rate determines how often to publish odometry readings. The *base\_controller\_rate* determines how often to publish odometry readings.
_Defining Sensors_ _Defining Sensors_
@ -198,7 +198,7 @@ second (or even once every 2 seconds: rate=0.5), whereas a sonar
sensor might be polled at 20 times per second. The *type* must be one sensor might be polled at 20 times per second. The *type* must be one
of those listed (case sensitive!). The default *direction* is input so of those listed (case sensitive!). The default *direction* is input so
to define an output pin, set the direction explicitly to output. In to define an output pin, set the direction explicitly to output. In
the example above, the Arduino LED (pin 13) will be blinked on and off the example above, the Arduino LED (pin 13) will be turned on and off
at a rate of 2 times per second. at a rate of 2 times per second.
_Setting Drivetrain and PID Parameters_ _Setting Drivetrain and PID Parameters_

7
ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h
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@ -1,5 +1,8 @@
/* Functions and type-defs for PID control. Take mostly from Mike Ferguson's /* Functions and type-defs for PID control.
ArbotiX code.
Taken mostly from Mike Ferguson's ArbotiX code which lives at:
http://vanadium-ros-pkg.googlecode.com/svn/trunk/arbotix/
*/ */
/* PID setpoint info For a Motor */ /* PID setpoint info For a Motor */

2
ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h
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@ -1,5 +1,5 @@
/* Define the attachment of any servos here. /* Define the attachment of any servos here.
The example shows one servo attached on pin 11. The example shows two servos attached on pins 3 and 6.
*/ */
#define N_SERVOS 2 #define N_SERVOS 2