Arduino Motor Controller

This code turns an Arduino into a motor controller! It provides a simple serial interface to communicate with a high-level computer (e.g. running ROS), and generates the appropriate PWM signals for a motor driver, to drive two or four dc motors (depending on the driver board) and servos.

This is a fork of the original code, with some changes. Check out README-orig.md for the original README. Currenytly I'm using this for 2x Servos to drive a camera platform.

Functionality

The main functionality provided is to receive servo angle requests over a serial connection, and provide angle feedback. Used commands:

• b - Get baud rate
• r - Reset servo angles and motor pwm signals to 0
• s <panAngle> <tiltAngle> - Set the servo angles (0-180) for each servo in degrees
• t - Read the current servo angles, returns <panAngle> <tiltAngle>

Additional commands:

• m <PWM1> <PWM2> - Set the raw PWM speed of each motor (-255 to 255)

Notes

• Position limits are set for tilt servo "2nd servo" (10-90) degrees
• Initial position is set to 90 degrees for pan servo "1st servo" and 60 degrees for tilt servo "2nd servo"
• Default baud rate 57600
• Needs carriage return (CR)
• Make sure serial is enabled (user in dialout group)
• Check out the original readme for more