Have you checked out http://wiki.ros.org/ros_arduino_bridge ?  There is
arduino PID code in there.

-Jon



On Mon, Feb 24, 2014 at 6:40 PM, Chris Jones <
chris.jones@overthrowrobotics.com> wrote:

> I've been working on a boxing robot for the last few years and in the
> process we needed to come up with our own high amp motor driver setup and I
> wanted to see if anyone would find it useful.
>
> The basic setup is an Arduino 2560/Due compatible shield that has
> connections for up to 6 motor drivers and 6 encoders.
>
> The motor drivers will handle up to 40A of power and use standard PCI-E
> power connectors so that it can be powered by a standard PC power supply.
> There's no reason you couldn't connect a 12V battery to it but out
> application didn't require it.
>
> We're using the AS5040 magnetic encoders and for our application we're
> mounting them to the back of a 12V wormgear motor to create a pseudo-servo
> but with the low cost and power of a DC motor (200W in our application).
>
> The motor driver/encoder connects to the Arduino shield via an RJ45
> connection. This way you can easily make your own cables for your specific
> application.
>
> We're finishing up modules for Arduino and ROS so that it can be plugged
> in to your application without much effort. We're pretty new to PID control
> so if anyone is interested in the project and would like to help out with
> some PID code send me a message.
>
> My plan was to sell them to help pay for development of our main robot but
> I may consider open-sourcing the entire design.
>
>
> --
> Chris Jones
> Overthrow Robotics
> chris.jones@overthrowrobotics.com
> 310-400-0256
>
>
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