docu/motor_shield_issue.txt

@@ -0,0 +1,7 @@
+See: https://github.com/wemos/WEMOS_Motor_Shield_Arduino_Library/issues/1
+
+Possible solution: Reprogram STM32 on the shield:
+https://hackaday.io/project/18439-motor-shield-reprogramming
+
+Can be done only with wemos:
+https://github.com/thomasfredericks/wemos_motor_shield

docu/notes.txt

@@ -0,0 +1,9 @@
+https://hackaday.com/2016/06/14/hackaday-prize-entry-micro-robots-for-education/
+
+https://www.adafruit.com/product/3216
+
+https://www.exp-tech.de/plattformen/robotik/roboterfahrzeuge/7673/adafruit-mini-round-robot-chassis-kit-2wd-with-dc-motors?gclid=EAIaIQobChMIrpHIq4Ke4QIVSeAYCh0LTgdWEAQYCCABEgIQcfD_BwE
+
+https://www.exp-tech.de/plattformen/robotik/roboterfahrzeuge/7898/adafruit-mini-3-layer-round-robot-chassis-kit-2wd-with-dc-motors?gclid=EAIaIQobChMIrpHIq4Ke4QIVSeAYCh0LTgdWEAQYCyABEgI76vD_BwE
+
+

docu/notes_intel_realsense.txt

@@ -0,0 +1,44 @@
+Installing Intel RealSense drivers:
+###################################
+echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' || sudo tee /etc/apt/sources.list.d/realsense-public.list
+sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
+sudo apt-get update
+sudo apt-get install librealsense2-dev
+sudo apt-get install librealsense2-dkms # enter a key for installing driver when asked (in my case the pw was realsense2019bt)
+sudo apt-get install librealsense2-utils
+
+Check if drivers were installed sucessfully:
+modinfo uvcvideo | grep "version:" # -> this should report the realsense camera driver
+
+
+# Installing the ROS package (assuming ros base is installed):
+Install dependencies:
+sudo apt-get install ros-kinetic-cv-bridge -y
+sudo apt-get install ros-kinetic-image-transport
+sudo apt-get install ros-kinetic-tf -y
+sudo apt-get install ros-kinetic-diagnostic-updater -y
+sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+sudo apt-get update
+sudo apt-get install ros-kinetic-ddynamic-reconfigure -y
+
+# clone github repo:
+git clone https://github.com/IntelRealSense/realsense-ros.git
+cd realsense-ros/
+git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
+mkdir -p ~/realsense_catkin_ws/src/realsense
+mv * ~/realsense_catkin_ws/src/realsense/
+
+cd ~/realsense_catkin_ws/src/
+catkin_init_workspace
+cd .. 
+catkin_make clean
+catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
+catkin_make install
+echo "source ~/realsense_catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+Test with:
+roslaunch realsense2_camera rs_camera.launch
+
+Possible issue:
+The camera requires a USB 3 port to provide full resolution streams

docu/notes_ros_messages.txt

@@ -0,0 +1,56 @@
+Creating ros package with catkin and adding custom messages:
+############################################################
+1. Create a workspace:
+----------------------
+$ mkdir catkin_ws
+$ cd catkin_ws
+$ mkdir src
+$ catkin_make
+$ source devel/setup.bash
+
+2. Create the package:
+----------------------
+$ cd catkin_ws/src
+$ catkin_create_pkg <package_name> std_msgs rospy roscpp
+$ cd ..
+$ catkin_make # this build the package
+
+3. Create the custom messages:
+------------------------------
+$ cd catkin_ws/src/<package_name>
+$ mkdir msg
+$ cd msg
+$ echo "int64 num" > Num.msg
+Then edit the package.xml file and add the following:
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+Also edit CMakeLists.txt and to the find_package() function add:
+ message_generation
+and to the catkin_package() add:
+ CATKIN_DEPENDS message_runtime
+
+Then, find add_message_files() (uncomment if necessary) and change it to the following:
+add_message_files(
+  FILES
+  Num.msg
+)
+
+Finally, uncomment the generate_messages() function such that it reads:
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+ )
+
+To build the new messages do the following:
+$ cd catkin_ws
+$ catkin_make # builds the new messages
+$ catkin_make install
+
+As the last step, source the setup.bash:
+$ . install/setup.bash
+
+Now the new messages should be available and you can find them with
+$ rosmsg list
+
+Don't forget to source the setup.bash everytime you want to use the messages!

docu/notes_ros_setup.txt

@@ -0,0 +1,8 @@
+1. Install ROS (Robot Operating System) (see: http://wiki.ros.org/kinetic/Installation/Ubuntu)
+
+2. Install the following dependencies:
+- cv_camera (see: http://wiki.ros.org/cv_camera):
+ $ sudo apt-get install ros-kinetic-cv-camera
+- Aruco Marker detection using fiducials package (see: http://wiki.ros.org/fiducials)
+ $ sudo apt-get install ros-kinetic-fiducials
+- 

docu/pin_out.txt

@@ -0,0 +1,21 @@
+Breadboard | NodeMCU, GPIO, index | H-bridge
+-------------------------------------
+ 13        |  D0, 16, 0           | 15      # driver channel 4 input
+ 14        |  D1,  5, 1           | 10      # driver channel 3 input
+ 15        |  D2,  4, 2           |  9      # driver 3/4 enable  (pwm)
+ 16        |  D3,  0, 3           |  2      # driver channel 2 input
+ 17        |  D4,  2, 4           |  7      # driver channel 1 input
+ 20        |  D5, 14, 5           |  1      # driver 1/2 enable (pwm)
+ 26        |  GND    
+ 
+Motor example:
+ First motor:
+ GPIO16 -> HIGH (index 0)
+ GPIO05 -> LOW  (index 1) 
+ GPIO04 -> HIGH (index 2)
+
+ Second motor:
+ GPIO00 -> HIGH (index 3)
+ GPIO02 -> LOW  (index 4)
+ GPIO14 -> HIGH (index 5)
+

docu/shields.txt

@@ -0,0 +1,5 @@
+TODO: Use the following shields
+
+Battery shield: https://wiki.wemos.cc/products:retired:battery_shield_v1.1.0
+
+Motor shield: https://wiki.wemos.cc/products:retired:motor_shield_v1.0.0

micropython_firmware/main.py

@@ -64,7 +64,7 @@ class Robot:
             listening = True
             try:
                 while listening:
-                     # expected data: '(u1, u2)'\n"
+                     # expected data: '(t, u1, u2)'\n"
                      # where ui = control for motor i
                      # ui \in [-1.0, 1.0]
                          data = comm_socket.readline()