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README.md: adding instructions for on-board wheel encoder counter

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Kristof Robot 2015-01-03 08:39:03 +01:00
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@ -23,9 +23,9 @@ the PC. The base controller requires the use of a motor controller and encoders
* Pololu VNH5019 dual motor controller shield (http://www.pololu.com/catalog/product/2502) or Pololu MC33926 dual motor shield (http://www.pololu.com/catalog/product/2503).
* Robogaia Mega Encoder shield
(http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html).
(http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html) or on-board wheel encoder counters.
**NOTE:** The Robogaia Mega Encoder shield can only be used with an Arduino Mega.
**NOTE:** The Robogaia Mega Encoder shield can only be used with an Arduino Mega. The on-board wheel encoder counters are currently only supported by Arduino Uno.
* The library can be easily extended to include support for other motor controllers and encoder hardware or libraries.
@ -438,6 +438,31 @@ where id is the index of the servo as defined in the Arduino sketch (servos.h) a
where id is the index of the servo as defined in the Arduino sketch (servos.h)
Using the on-board wheel encoder counters (Arduino Uno only)
------------------------------------------------------------
The firmware supports on-board wheel encoder counters for Arduino Uno.
This allows connecting wheel encoders directly to the Arduino board, without the need for any additional wheel encoder counter equipment (such as a RoboGaia encoder shield).
For speed, the code is directly addressing specific Atmega328p ports and interrupts, making this implementation Atmega328p (Arduino Uno) dependent. (It should be easy to adapt for other boards/AVR chips though.)
To use the on-board wheel encoder counters, connect your wheel encoders to Arduino Uno as follows:
Left wheel encoder A output -- Arduino UNO pin 2
Left wheel encoder B output -- Arduino UNO pin 3
Right wheel encoder A output -- Arduino UNO pin A4
Right wheel encoder B output -- Arduino UNO pin A5
Make the following changes in the ROSArduinoBridge sketch to disable the RoboGaia encoder shield, and enable the on-board one:
/* The RoboGaia encoder shield */
//#define ROBOGAIA
/* Encoders directly attached to Arduino board */
#define ARDUINO_ENC_COUNTER
Compile the changes and upload to your controller.
NOTES
-----
If you do not have the hardware required to run the base controller,