stm32_dcmotor_serial

Control a Motor and read a AB Encoder using STM32 MCU.

• Software: Robot Operating System and LibSerial.

• Version: kinetic, melodic, noetic.

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Install LibSerial.

$ sudo apt-get install -y libserial-dev

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Clone stm32_dcmotor_serial

$ cd <catkin_workspace>/src

$ git clone https://github.com/qaz9517532846/stm32_dcmotor_serial.git

$ cd ..

$ catkin_make

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Run serial_ros server

$ roslaunch stm32_dcmotor_serial stm32_dcmotor.launch

Run serial_ros client

$ rosrun stm32_dcmotor_serial STM32_DCMotor_client <duty>

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ROS Parameter

Item	Type	Default	illustrate
Serial_Port	String	"/dev/ttyACM0"	Serial Comunication with device(ex. Arduino, STM32, Renesas, Linkit board and MCU).
Baund_rat	Int	115200	Setting device baund rate.
character_size	Int	8	Setting device character size.
stop_bits	Int	1	Setting device stop bits.
parity	Int	0	Setting device parity.
flow_control	Int	1	setting device flow control.
pulse_resoution	Int	512	Setting pulse of rev.

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Send data using serial communication.

• Duty

Address	Address 0	Address 1	Address 2
data type	UINT8	UINT8	UINT8
data	direction(0 or 1)	duty hightbyte (0 - 100)	duty lowbyte (0 - 99) * 0.01

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Received data using serial communication.

• Encoder counter

Address	Address 0	Address 1
data type	UINT8	UINT8
data	encoder cnt hightbyte	encoder cnt lowbyte

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Demo

Demo Video

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Reference

[1]. LibSerial. https://github.com/crayzeewulf/libserial

[2]. STM_DCMotor_Encoder. https://github.com/qaz9517532846/STM_DCMotor_Encoder

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Copyright © 2021 ZM Robotics Software Laboratory.