haya_motor_ros

Using 9axis-imu haya_imu in this project to evaluate whether the A/B phase pulses of the encoder, which is the basis for calculating the rotation speed of motor output shaft, are correctly measured or not, and to evaluate the accuracy and accuracy of DC motor PID control.

Required Hardware

DC brush motor, Magnetic encoder, Arduino Leonardo, Adafruit Motor Shield v1.2 compatible board, 9-axis sensor haya_imu v3.2, Raspberry Pi 3 or 4, PC

Required ROS packages or LIBs

rosserial, haya_motor_ros, haya_imu_ros, ros_lib by rosserail_arduino with Arduino IDE, Adafruit-Motor-Shield-library(modified, Timer3A/D5-pin/PWM frequency changed to 4KHz), arduino_node(ino) on Leonardo with Arduino IDE

ROS node interaction status

Launch

roslaunch haya_imu_ros haya_imu.launch

roslaunch haya_motor_ros haya_motor.launch

Evaluation environment

DC motor PID control evaluation environment using haya_imu.

PID control curve

Target value of PID control, rotation speed by encoder, rotation speed curve measured by haya_imu.

PWM pulse

PWM pulse by oscilloscope.

For more in Japanese

https://memo.soarcloud.com/encoder-motor-pid-control-with-haya_imu/